a gripping device configured to grip at least one slide;

Abstract

Disclosed is a gripping device (150) configured to grip at least one slide (168), the gripping device (150) comprising: at least one first gripping element (110), the first gripping element (110) comprising at least one first contact surface (112) for gripping the slide (168), at least one second gripping element (134), the second gripping element (134) comprising at least one second contact surface (136) for gripping the slide (168), the second gripping element (134) further comprising at least two protrusions (160), each extending essentially perpendicular to the second contact surface (136); The device includes at least a second gripping element (134) having at least two protrusions (160) arranged on each opposing end (162) of the second contact surface (136), the at least two protrusions (160) being configured to center the slide (168) while gripping the slide (168) via the gripping device (150), the first gripping element (110) and the second gripping element (134) being linearly movable relative to each other, and the first contact surface (112) of the first gripping element (110) and the second contact surface (136) of the second gripping element (134) facing each other.

Description

[Technical Field]

[0001] Technical Field The present disclosure relates to a gripping device configured to grip at least one slide, a slide transfer device, a method for gripping at least one slide, a method for releasing at least one slide, a method for transferring at least one slide from at least one storage device to at least one receiving device, and a method for imaging multiple slides. In this specification, the slide imaging device can be preferably used in digital pathology. However, further uses are feasible. [Background technology]

[0002] Background technology A slide imaging device includes an imaging device configured to generate an image of a sample mounted on a slide. The images generated by modern imaging devices are typically digital images, and therefore such images are sometimes referred to as "digital slides." Typically, the sample mounted on the slide is a biological specimen, such as a tissue sample. Typically, the slide is a glass slide. Typically, slide imaging devices are used in digital pathology, which can be understood as an image-based information environment that enables management of information generated from digital slides.

[0003] When an imaging device can generate an image that may cover most or the entire surface of a slide, for example, by using a scanning process, the corresponding slide imaging device may be referred to as a "whole slide imaging" device. Slide imaging devices can generate images of samples fixed to slides using a 2D (two-dimensional) camera or a line scan detector. Examples of slide imaging devices are described, for example, in EP 00534247, EP 0245089, U.S. Patent Application Publication No. 6118582, U.S. Patent No. 6522774, U.S. Patent No. 6640014, U.S. Patent No. 6711283, U.S. Patent No. 7682573, WO 2013 / 017855, U.S. Patent No. 8712116, and U.S. Patent No. 9116035.

[0004] Generally, imaging devices have the capacity to process 1 to 1,000 slides simultaneously. A distinction can be made between low-throughput imaging devices, typically referring to the simultaneous processing of fewer than 10 slides, and high-throughput imaging devices, referring to the simultaneous processing of more than 100 slides. Thus, imaging devices configured to simultaneously process 10 to 100 slides can be referred to as medium-throughput imaging devices. To load one or more slides into the imaging device, individual slides are typically manually inserted into a slide storage location, typically a slide tray or slide rack, and then introduced into the imaging device to generate the desired image of the specimen mounted on the slide.

[0005] However, it may be desirable to be able to insert slides into a slide receiving portion included in an imaging device in an automated manner by using a specially adapted feeding device. To this end, the feeding device may typically be or comprise a gripping device designed to perform a specific gripping operation. In the context of this disclosure, the specific gripping operation specifically involves transferring the slide to the slide receiving portion of the imaging device in a secure manner, thereby avoiding instability or loss of the slide during transport.

[0006] WO 2021 / 191410 describes a slide imaging apparatus and a method for imaging a plurality of slides. The slide imaging apparatus includes at least one imaging device configured to generate an image of a sample fixed to a slide. The imaging device includes at least one operating button. The slide imaging apparatus further includes a storage device capable of loading a plurality of slides and configured to store the slides. The slide imaging apparatus further includes a feeder configured to feed slides from the storage device to the imaging apparatus. The feeder is configured to press the operating button.

[0007] EP 3308129 A1 describes a machine for preparing and analyzing one or more slides according to an immunofluorescence method. The machine includes a loading station suitable for placing one or more containers for containing test liquids and / or product samples. The machine further includes one or more slide positioning stations. The machine further includes one or more slide cover storage stations. The machine further includes an analysis station equipped with a microscope for digitally acquiring images at one or more magnifications. The machine further includes an assembly movable within an area defined by the machine and controlled to move through the stations to prepare one or more slides according to a predefined protocol and place the slides in corresponding analysis stations for subsequent acquisition of one or more digital images. The machine further includes one or more covers sized to be applied to cover each slide placed on a sheet. The machine further includes a container for storing one or more of the covers. The assembly is further controlled to remove the covers and place them inside the container after the sample predilution step is complete.

[0008] U.S. Patent Application Publication No. 2007 / 059205 describes an automated micro-well plate processing device for removing a micro-well plate from within a plurality of vertically stacked micro-well plates and transferring the removable micro-well plate to a receiving area. A vertical storage device for storing a plurality of vertically stacked micro-well plates forms a vertical clearance space between the vertically stacked micro-well plates. A shovel slides into the vertical gap below the micro-well plate to be removed. The shovel then removes the micro-well plate from the vertical storage device and places the micro-well plate in a transfer station. A gripper then grasps the micro-well plate from the transfer station and transfers the micro-well plate to the receiving area. In a preferred embodiment, the automated micro-well plate processing device is controlled via a computer network.

[0009] WO 2012 / 040433 describes a system in which pathology specimen slides are actively placed in trays and picked and placed by an autoloader. The trays are received in a tiered rack accessed by the autoloader, which moves the slides between the trays and a digital imaging microscope. The trays can have rows of receptacles for slides, with standoff structures spaced above the tray bottom. The lateral and end partitions defining the receptacles are inclined inwardly in opposite directions to guide the slides into position in the tray. The autoloader has a manipulator that grasps the edges of slides presented in the front row and can grasp one or more rows of slides beyond the front row. The manipulator lifts the slides between the inclined surfaces of the partitions, loads them into the microscope, then removes the slides from the microscope and returns them to their holders.

[0010] Chinese Patent No. 110482219 describes a machine vision-based system and method for transporting medical glass slides. The system includes a mechanical arm, a mobile vehicle, and a visual positioning module. The mechanical arm is disposed on the mobile vehicle, and the visual positioning module communicates with the mechanical arm. The mechanical arm communicates with the mobile vehicle, and the mobile vehicle drives the mechanical arm to move to a first position. The visual positioning module is used to collect position information of the glass slide disk and transmit the collected position information to the mechanical arm, and the mechanical arm clamps the glass slide disk according to the received position information.

[0011] WO 2022 / 123944 describes a microscope slide transport device comprising: an arm member that is movable in a first direction on a plane and has at its tip a first abutment member that abuts against a first end surface of the microscope slide; a support plate that has a second abutment member that abuts against a second end surface opposite the first end surface of the microscope slide and is movably in the first direction, and that supports the microscope slide from below; a drive unit that drives the arm member to be movable in the first direction; and a biasing member that is provided between the drive unit and the arm member; when the arm member moves to a position where the first abutment member and the second abutment member simultaneously abut against the microscope slide, the biasing member biases the arm member in the first direction.

[0012] US Patent Application Publication No. 2010 / 0303600 describes an apparatus for mechanically gripping and set-down impact-sensitive sheets of various formats into at least one stack assembly ready for dispatch, said apparatus having the following features: a) a control device in the form of a multi-axis robot arm connected to a gripper device and means for mechanically gripping the sheets; b) the gripper device is hinged to the control device by an adjustable damping device and suspended from the control device at a gentle incline; c) the gripper device has a slide for relative displacement of the means for mechanically gripping the sheets; d) the gripper device has means for determining the geometric dimensions of the gripped sheet and for determining its set-down position; e) the gripper device has means for determining the exact position coordinates of the set-down position; f) the gripper device has means for gently feeding and depositing the sheets at the set-down position.

[0013] U.S. Patent Application Publication No. 2004 / 086368 describes a gripping mechanism, a gripper device / system, and related methods. The gripping mechanism includes stops, support surfaces, and height adjustment surfaces for determining the position of three translational axes of a gripped object. The gripping mechanism is also described as being resiliently coupled to other components of the gripper device.

[0014] U.S. Patent Application Publication No. 2012 / 002277 describes a slide storage device including a supply tray on which slides to be supplied to a processing unit operable to perform a predetermined processing are placed, the supply tray having a supply holding space defined by a long edge upper limit that accommodates the long edge of the slide and a short edge upper limit that accommodates the short edge of the slide; a discharge tray having a discharge holding space defined by a long edge longer than the long edge upper limit and a short edge longer than the short edge upper limit, the discharge tray on which slides to be processed in the processing unit and discharged are placed; and a support unit that supports the supply tray and the discharge tray.

[0015] Japanese Patent Application Laid-Open Publication No. 2017021275 describes an image acquisition device that acquires image data of slides. This image acquisition device has a first imaging unit, a first holding mechanism, and a second holding mechanism, and is equipped with a second imaging unit that images slides held in the second holding mechanism, a slide storage unit that stores multiple slides, and a control unit. The first holding mechanism removes a slide from the slide storage unit and transports the slide to a predetermined position in the first imaging unit. The first imaging unit images the slide held in the first holding mechanism, and the first holding mechanism transports the slide to the second holding mechanism. The second holding mechanism adjusts the position of the slide, and the second imaging unit images the slide held in the second holding mechanism.

[0016] Chinese Patent No. 112269029 describes a manipulator for conveniently gripping slides. The manipulator includes a rack, a mounting block, an upper clamping block, a lower clamping block, an elastic clamping piece, and a rust-resistant anti-slip sheet. The upper and lower clamping blocks are connected to the mounting block, the elastic clamping piece is connected to the upper clamping block, the lower end of the elastic clamping piece protruding from the lower end of the upper clamping block, and the rust-resistant anti-slip sheet is attached to the upper end of the lower clamping block. When gripping a slide, the mounting block moves vertically and horizontally relative to the rack, while the upper and lower clamping blocks move in opposite directions to clamp or release the slide. The lower end of the elastic clamping piece elastically contacts the slide, firmly gripping the slide and preventing damage to the slide due to excessive gripping force. The rust-resistant anti-slip sheet prevents the slide from slipping off the lower clamping block and protects the lower clamping block from corrosion.

[0017] Despite the advantages achieved by known methods and devices, several technical challenges remain, including the possibility of slides becoming loose during transport and the limited space available to grip the slides in the slide tray. Summary of the Invention [Problem to be solved by the invention]

[0018] Issues to be resolved Therefore, it is desirable to provide a gripping device configured to grip at least one slide, a slide transfer device, a method for gripping at least one slide, a method for releasing at least one slide, a method for transferring at least one slide from at least one storage device to at least one receiving device, and a method for imaging multiple slides that enables reliable transfer of the slides. [Means for solving the problem]

[0019] overview The aforementioned problem is addressed by a gripping device configured to grip at least one slide, a slide transfer device, a method for gripping at least one slide, a method for releasing at least one slide, a method for transferring at least one slide from at least one storage device to at least one receiving device, and a method for imaging a plurality of slides, having the features of the independent claims. Advantageous embodiments, which may be realized alone or in any arbitrary combination, are set out in the dependent claims.

[0020] When used below, the terms "having," "comprising," or "including," or any grammatical variants thereof, are used in a non-exclusive manner. Thus, these terms can refer both to a situation in which, besides the features introduced by these terms, no further features are present in the entity described in this context, and to a situation in which one or more further features are present. As an example, the expressions "A has B," "A comprises B," and "A includes B" can both refer to a situation in which, besides B, no other elements are present in A (i.e., a situation in which A consists solely and exclusively of B), and to a situation in which, besides B, one or more further elements are present in entity A, such as element C, elements C and D, or further elements.

[0021] Furthermore, it should be noted that the terms "at least one," "one or more," or similar expressions indicating that a feature or element may be present more than once are typically used only once when introducing each feature or element. In most cases below, when referring to each feature or element, the expressions "at least one" or "one or more" will not be repeated, regardless of the fact that each feature or element may be present more than once.

[0022] Furthermore, when used hereinafter, the terms "preferably," "more preferably," "particularly," "more particularly," "particularly," "more particularly," or similar terms may be used in conjunction with any feature without limiting its alternative possibilities. Therefore, features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. The present invention may be implemented by using alternative features, as recognized by those skilled in the art. Similarly, features introduced by "in an embodiment of the invention" or similar expressions are intended to be optional features without any limitations regarding alternative embodiments of the invention, without any limitations regarding the scope of the invention, and without any limitations regarding the possibility of combining the feature introduced in this manner with other optional or non-optional features of the invention.

[0023] The terms "first" and "second" may be considered merely as nomenclature, without numbering or ranking the named elements, without specifying an order, and without excluding the possibility that there may be several types of first or second elements. Furthermore, there may be additional elements, such as one or more third elements.

[0024] As used herein, the term "slide" is a broad term and should be given its common and ordinary meaning to those skilled in the art, and should not be limited to a specific or special meaning. This term may specifically, but is not limited to, refer to a substrate designated for a sample to be fixed to the surface of a slide. As used herein, the term "sample" is a broad term and should be given its common and ordinary meaning to those skilled in the art, and should not be limited to a specific or special meaning. This term may specifically, but is not limited to, refer to a biological specimen, such as a tissue sample. However, other types of samples may also be feasible.

[0025] In particular, for the purpose of supporting a sample on a slide without any changes during processing, the substrate is mechanically stable and can therefore comprise any material that provides sufficient mechanical stability. In particular, for the purpose of supporting a biological specimen, the substrate can preferably present a surface configured to be compatible with biological materials. By way of example, the slide is a glass slide, since glass is known to provide sufficient mechanical stability on the one hand and to have high compatibility with biological materials on the other hand. However, other types of materials for the slide may also be feasible.

[0026] Furthermore, the slide may have a form that allows imaging of a sample fixed to the slide. For the purpose of generating a desired image of the sample, the slide may preferably be a plate having a 2D extension and a thickness, the 2D extension of the plate preferably having a rectangular or circular form, and the thickness of the plate may be small compared to the size of the extension, preferably 20%, more preferably 10%, particularly 5% or less than the linear extent of the 2D extension of the plate. Furthermore, the slide may include at least one spring leaf, particularly at least one plastic spring leaf, configured to interact with a gripping device, as described in more detail below.

[0027] Illustratively, the slide is 76 mm long, 25 mm wide, and 1 mm thick, although other dimensions may be feasible.

[0028] Slides, particularly multiple slides, may be received in a slide tray for storage, sample preparation, imaging, etc. As used herein, the term "slide tray" is a broad term and should be given its common and ordinary meaning to those skilled in the art and should not be limited to a specific or special meaning. The term may specifically, but not exclusively, refer to an element configured to hold at least one slide or a slide holder, particularly during scanning of at least one slide in an imaging device. A slide tray may specifically be composed of multiple receptacles. A receptacle may be configured to receive one slide, specifically a single slide. Each receptacle may include a frame configured to hold a slide, specifically a frame configured to hold a slide in a horizontal orientation.

[0029] In a first aspect of the present invention, a gripping device for gripping at least one slide is disclosed. The gripping device includes at least one first gripping element. The first gripping element includes at least one first contact surface for gripping the slide. The gripping device includes at least one second gripping element. The second gripping element includes at least one second contact surface for gripping the slide. The second gripping element further includes at least two protrusions, each extending essentially perpendicular to the second contact surface. The at least two protrusions are located at opposite ends of the second contact surface. The at least two protrusions are configured to center the slide while gripping the slide via the gripping device. The first gripping element and the second gripping element are linearly movable relative to each other. The first contact surface of the first gripping element and the second contact surface of the second gripping element face each other.

[0030] As used herein, the term "gripping device" is a broad term and should be given its common and ordinary meaning to those skilled in the art, and should not be limited to a specific or special meaning. This term may specifically, but is not limited to, typically refer to a mechanical element designed to grasp an object, transport it to a desired location, and release the object at the desired location. For the purposes of this disclosure, a particular gripping device may thus be configured to grasp a slide, transport it in a secure manner to a slide-receiving portion of an apparatus, such as an imaging device, thereby avoiding instability or loss of the slide during transport, and release it, preferably into a slide tray.

[0031] The term "gripping element" as used herein is a broad term and should be given its common and ordinary meaning to those skilled in the art, without being limited to any specific or special meaning. This term may specifically, but is not limited to, refer to a component or part of a gripping device. The components may be treated independently or may be connectably or integrally connected to fulfill at least one common function. As outlined above, the gripping device is comprised of a first gripping element and a second gripping element. The first gripping element and the second gripping element may each function as pliers for gripping a slide. Further details regarding the first gripping element and the second gripping element are provided in more detail below.

[0032] As outlined above, the first gripping element constitutes a first contact surface, and the second gripping element constitutes a second contact surface. The term "contact surface" as used herein is a broad term and should be given its ordinary and customary meaning to those skilled in the art, and should not be limited to any special or customized meaning. This term may specifically, but is not limited to, any surface configured to directly contact an object, particularly a surface or portion of a surface of the object. Thus, the object may be configured to lie loosely on the contact surface. The first contact surface of the first gripping element and the second contact surface of the second gripping element may be substantially planar.

[0033] The slide can include at least one sample face configured to receive at least one sample and at least one opposing rear face, a first contact face of the first gripping element configured to contact the rear face, and a second contact face of the second gripping element configured to contact the sample face.

[0034] The slide may specifically have the shape of a rectangular base having two longitudinal sides and two end faces. The slide may be an elongated element extending along a longitudinal axis. The longitudinal sides may extend essentially parallel to the longitudinal axis, and the end faces may extend perpendicular to the longitudinal axis. The gripping device may be configured to grip the slide at one end face of the slide.

[0035] Specifically, the first and second contact surfaces may be essentially parallel to the sample surface and the opposing rear surface of the slide, respectively, when the slide is gripped by the gripping device. Thus, the term "essentially parallel" may refer to the property that the first and second contact surfaces are parallel to the sample surface and the opposing rear surface of the slide. Illustratively, the first and second contact surfaces may be exactly parallel to the sample surface and the opposing rear surface of the slide, respectively. However, small deviations may be feasible. Specifically, the first and second contact surfaces may be positioned at an angle of ±20°, preferably ±10°, and more preferably ±5° relative to the sample surface and the opposing rear surface of the slide, respectively.

[0036] The first and second contact surfaces may directly contact only a portion of the sample surface and the opposing rear surface of the slide, respectively, and therefore the area of ​​the sample surface covered by the sample may not be in contact with the second contact surface.

[0037] As outlined above, the first gripping element and the second gripping element are linearly movable relative to each other. Specifically, the first gripping element and the second gripping element may be exclusively linearly movable relative to each other. Illustratively, the first gripping element may be stationary while the second element moves. Alternatively, the first gripping element may move and the second gripping element may be stationary. Furthermore, the first gripping element and the second gripping element may each move. The term "linearly movable" may refer specifically to a characteristic of an element designed to provide free movement in one direction, specifically a straight line. Specifically, it refers to an element that can be moved in a straight line.

[0038] The first and second contact surfaces may be oriented essentially parallel to each other. The term "essentially parallel" may refer to the characteristic of the first contact surface being parallel to the second contact surface. Illustratively, the first contact surface may be exactly parallel to the second contact surface. However, small deviations may be feasible. Specifically, the first contact surface may be positioned at an angle of ±20°, preferably ±10°, and more preferably ±5°, relative to the second contact surface. Prior to gripping the slide with the gripping device, the first and second contact surfaces may be positioned at a distance greater than the thickness of the slide, specifically at least two times, preferably at least three times. When the slide is gripped with the gripping device, the slide may be positioned between the first and second contact surfaces. Thus, the first and second contact surfaces may be positioned at a distance from each other that may essentially correspond to the thickness of the slide.

[0039] The first gripping element may be movable in a direction essentially perpendicular to the second contact surface of the second gripping element. The second gripping element may be movable in a direction essentially perpendicular to the first contact surface of the first gripping element. The term "essentially perpendicular" may include slight deviations from a perpendicular arrangement, for example, an arrangement that deviates from a perpendicular arrangement by 10 degrees or less, preferably 5 degrees or less.

[0040] Additionally, the gripping device may include at least one actuator for driving the relative movement of the first gripping element and the second gripping element. As further used herein, the term "actuator" refers to any element configured to move or control a mechanism or system. The actuator may be actuated by an energy source, typically an electric current or mechanical pressure, and may convert energy into motion. The actuator may be selected from the group consisting of a mechanical actuator, an electromagnetic actuator, and a pneumatic actuator. However, other types of actuators may be used.

[0041] The actuator may be configured to perform a predetermined sequence of movements that place the first and second gripping elements in at least two positions, specifically, sequentially, a closed position and an open position. Furthermore, the actuator may be configured to stop the movements in one of the at least two positions. The open position may refer to a position of the first and second gripping elements relative to each other in which the first and second contact surfaces are spaced apart from each other by a distance greater than the thickness of the slide, specifically, at least twice, preferably at least three times the thickness. The open position may refer to a position before the slide is gripped. The closed position may refer to a position of the first and second gripping elements relative to each other in which the first and second contact surfaces are spaced apart by a distance essentially corresponding to the thickness of the slide. In the closed position, the slide may be disposed between the first and second contact surfaces.

[0042] As outlined above, the first contact surface of the first gripping element and the second contact surface of the second gripping element face each other. The first contact surface and the second contact surface may be positioned opposite each other. As outlined in more detail below, the first contact surface and the second contact surface may have different shapes. Thus, the first contact surface and the second contact surface may be positioned offset from each other.

[0043] The first contact surface of the first gripping element may have a rectangular base shape. Specifically, the first contact surface may have a rectangular shape. The term "rectangular base shape" generally refers to any shape in which at least a portion of the shape may be rectangular. However, the shape may also include additional features, such as rounded corners. The first contact surface of the first gripping element may have a length and a width. The length may exceed the width by at least 1.5 times, preferably at least 2 times, and most preferably at least 2.5 times. Exemplarily, the first contact surface may have a length of 8 mm to 20 mm, preferably 10 mm to 17 mm, and most preferably 14 mm. Furthermore, exemplarily, the first contact surface may have a width of 2 mm to 10 mm, preferably 4 mm to 6 mm, and most preferably 5 mm. Exemplarily, the first contact surface may have a length of 14 mm and a width of 5 mm. However, other dimensions may also be feasible.

[0044] The first gripping element may include at least one first contact component having a first contact surface and at least one first guide component configured to guide the first contact component. The first contact component and the first guide component may be attached to each other, preferably by physical adhesion. The first contact component and the first guide component may be manufactured as a single unit. The first contact component may be rigidly connected to the first guide component. Therefore, movement of the first contact component relative to the first guide component, such as rotational or translational movement, may not be possible.

[0045] The term "component," as used herein, is a broad term that is to be given its ordinary and customary meaning to one of ordinary skill in the art, and is not intended to be limited to any special or custom meaning. The term is not limiting and may specifically refer to a portion or region of any object.

[0046] As used further herein, the term "guiding element" is a broad term and should be given its common and ordinary meaning to those skilled in the art, and should not be limited to a specific or special meaning. The term is not limiting and may specifically refer to any element configured to support movement of an element in a desired direction. The first guiding component may be configured to attach to at least one actuator configured to enable linear movement of the first gripping element.

[0047] As used further herein, the term "contact element" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a specific or special meaning. The term is not limiting and may specifically refer to any element configured to come into direct contact with another object. Thus, a contact element may have at least one contact surface that can function as a support surface for the object.

[0048] The first guiding component may be an elongated element, and the first contact surface may be disposed essentially perpendicular to a longitudinal axis of the first guiding component. The term "essentially perpendicular" may include slight deviations from a perpendicular orientation, for example, an orientation that deviates from a perpendicular orientation by no more than 10 degrees, preferably no more than 5 degrees.

[0049] The first gripping device may have an L-shape. The first guiding component may correspond to the long arm of the L, which may also be referred to as the vertical arm of the L. The first contact component may correspond to the short arm of the L, which may also be specifically referred to as the horizontal arm of the L. The first gripping device may have an L-shape when viewed from the side. When viewed from the side, the long side of the contact surface having a rectangular base shape may extend along the axis along which the short arm of the L extends. Furthermore, when viewed from the side, the short side of the contact surface having a rectangular base shape may extend essentially perpendicular to the axis along which the short arm of the L extends.

[0050] The first contact component may include at least one surface facing the first contact surface. The surface may also be referred to as a rear surface. The surface may be disposed at an angle less than 90° relative to the longitudinal axis of the first guide component. Specifically, the surface may be disposed at an angle between 80° and 89° relative to the longitudinal axis of the first guide component. This may facilitate guiding the first contact component beneath a slide in a slide tray.

[0051] The first guide component may include at least one hole, specifically at least one drilled hole. The hole may extend along the longitudinal axis of the first guide component. The hole may extend along at least 20%, preferably at least 30%, and most preferably at least 40% of the length of the first guide component. Furthermore, the diameter of the hole may correspond to at least 20%, preferably at least 30%, and most preferably at least 40% of the average diameter of the first guide component. The hole may be configured to increase the rigidity of the first guide element.

[0052] The first contact component may include at least one first end and at least one opposite second end. The first guide component may be attached to the first contact component at the second end. The thickness of the first contact component may gradually decrease from the second end to the first end. The connection region between the first contact component and the first guide component may comprise at least one rounded corner, thereby facilitating the guidance of the first contact component beneath a slide in a slide tray.

[0053] The first gripping element may include at least one further contact surface. The further contact surface may be a surface of the first guide component. The further contact surface may be arranged essentially perpendicular to the first contact surface. The term "essentially perpendicular" may include a slight deviation from the perpendicular arrangement, for example, an arrangement that deviates from the perpendicular arrangement by 10 degrees or less, preferably by 5 degrees or less. The further contact surface may be configured to apply a reaction force to the slide. The first guide component may be tapered in the region of the further contact surface.

[0054] The second contact surface may extend in a plane defined by an x-axis and a y-axis that are perpendicular to each other. The second contact surface may include at least one first region and at least one second region. The first region and the second region may have different lengths along the x-axis and the y-axis, respectively. The first region and the second region may each have an essentially rectangular shape. The first region and the second region may blend seamlessly with each other. The first region and the second region may extend along the same plane. The second region may be centered with the first region. The second region may be configured to distribute the retention force of the slide.

[0055] The second contact surface may have an essentially T-shape, the first region may correspond to a horizontal arm of the T, and the second region may correspond to a vertical arm of the T.

[0056] The first region has length l along the x-axis 11 and the length along the y-axis, l 12 and the second region may have a length l along the x-axis. 21 and the length along the y-axis, l 22 It may have a length l 21 is the length l 11 It may be larger, specifically at least 1.5 times, preferably at least 1.7 times, and most preferably at least 1.9 times. 12 is the length l 22It may be larger, specifically at least twice as large, preferably at least three times as large, and most preferably at least five times as large. 12 is the length l 11 It may be larger, specifically at least twice as large, preferably at least three times as large, and most preferably at least 3.5 times as large. 21 is the length l 22 It may be larger, specifically at least 1.5 times, preferably at least 2 times, and most preferably at least 2.5 times. 12 may be essentially equal to the width of the slide. 11 The length l may be 3 mm to 15 mm, preferably 5 mm to 10 mm, and most preferably 6 mm. 12 The length l may be 25 mm to 27 mm, preferably 25.1 mm to 25.8 mm, and most preferably 25.5 mm. 21 The length l may be 5 mm to 20 mm, preferably 8 mm to 15 mm, and most preferably 10 mm. 22 The length l may be 2 mm to 10 mm, preferably 4 mm to 6 mm, and most preferably 5 mm. 11 may be 6 mm, and the length l 12 may be 25.5 mm, and the length l 21 may be 10 mm, and the length l 22 may be 5 mm, but other dimensions may also be feasible.

[0057] As outlined above, the first contact surface of the first gripping element may have a rectangular basic shape having a length and a width. The length may be greater than the width. The long side of the first contact surface of the first gripping element may extend along the x-axis. The long side of the first contact surface of the first gripping element may have a length l. 11 and extending essentially parallel to the side of the first region having a length l 21 The short side of the first contact surface of the first gripping element may extend along the y-axis. The short side of the first contact surface of the first gripping element may extend essentially parallel to the side of the second region having a length l 12and extending essentially parallel to the side of the first region having a length l 22 When the slide is gripped by the gripping device and positioned between the first contact surface and the second contact surface, the long side of the slide may extend along the x-axis. The long side of the slide may have a length l 11 and may extend essentially parallel to a side of the first region having a length l 21 The slide may extend essentially parallel to a side of the second region having a length l and may extend essentially parallel to a long side of the first contact surface of the first gripping element. Furthermore, when the slide is gripped by the gripping device and positioned between the first contact surface and the second contact surface, the long side of the slide may extend along the x-axis. The long side of the slide may have a length l 12 and may extend essentially parallel to a side of the first region having a length l 22 and may extend essentially parallel to a short side of the first contact surface of the first gripping element.

[0058] The second gripping element may include at least one second contact component having a second contact surface and at least one second guide component configured to guide the second contact component. See above for the terms "contact component" and "guide component." The second contact component and the second guide component may be attached to each other, preferably by physical bonding. The second contact component and the second guide component may be manufactured as a single unit. The second contact component may be rigidly connected to the second guide component. Therefore, movement of the second contact component relative to the second guide component, such as rotational or translational movement, may not be possible.

[0059] The second guidance component can be configured to attach to at least one actuator configured to enable linear movement of the second gripping element.

[0060] The second inductive component may be an elongated element. The second inductive component may include at least one first end and at least one opposing second end, and the second contact surface may be disposed at the first end of the second inductive component. The second inductive component may taper from the first end to the second end.

[0061] The second contact surface may be disposed essentially perpendicular to the longitudinal axis of the second guidance component. The term "essentially perpendicular" may include slight deviations from a perpendicular arrangement, for example, an arrangement that deviates from a perpendicular arrangement by no more than 10 degrees, preferably no more than 5 degrees.

[0062] As outlined above, the second gripping element includes at least two protrusions, each extending essentially perpendicular to the second contact surface. Specifically, the second gripping element includes two protrusions, each extending essentially perpendicular to the second contact surface. The at least two protrusions are located at opposite ends of the second contact surface. The at least two protrusions are configured to center the slide while gripping the slide via the gripping device. As used herein, the term "protrusion" is a broad term and should be given its common and ordinary meaning to those skilled in the art and should not be limited to a specific or special meaning. This term is not limiting and may specifically refer to at least one element that protrudes outward perpendicular to at least one surface of the element, particularly the surface of the element. The term "essentially perpendicular" may include a slight deviation from the perpendicular arrangement, for example, a deviation of 10 degrees or less, preferably 5 degrees or less, from the perpendicular arrangement.

[0063] Each of the protrusions may have a rectangular base shape. The term "rectangular base shape" generally refers to any shape in which at least a portion of the shape may be rectangular. However, the shape may also include additional features, such as, for example, rounded corners. Each of the protrusions may have a first length and a second length. The first length is specifically the length l of the first region. 11 Illustratively, the first length may be 3 mm to 15 mm, preferably 5 mm to 10 mm, and most preferably 6 mm. Furthermore, illustratively, the second length may be 1 mm to 5 mm, preferably 2 mm to 4 mm, and most preferably 3 mm. Illustratively, the first length may be 6 mm and the second length may be 3 mm. However, other dimensions may also be feasible.

[0064] The distance between the at least two protrusions may be essentially equal to the width of the slide. The term "essentially equal" may refer to the distance between the at least two protrusions being equal to the width of the slide. Additionally, the term may refer to the distance between the at least two protrusions being slightly greater than the width of the slide.

[0065] At least two protrusions may be located at opposite ends of the first region of the second contact surface, the length of the protrusions being equal to or greater than the length l of the first region. 11 The protrusion may extend along a z-axis that is perpendicular to the x-axis and y-axis.

[0066] The first guide component of the first gripping element and the second guide component of the second gripping element may be arranged parallel to each other. The first guide component and the second guide component may be arranged at a distance from each other. The first guide component and the second guide component may both extend in the same direction. The first guide component and the second guide component may each extend along the z-axis. The second region of the second contact surface of the second gripping element may be arranged between the first guide component and the first region of the second contact surface of the second gripping element.

[0067] In a second aspect of the present invention, a slide transfer device is disclosed. The slide transfer device comprises at least one storage device. The storage device is loadable with a plurality of slides and configured to store the slides. The slide transfer device further comprises at least one receiving device. The receiving device is configured to receive transferred slides from the storage device. The slide transfer device further comprises at least one transfer device. The transfer device is configured to transfer slides from the storage device to the receiving device. The transfer device comprises at least one robotic arm. At least one gripping device, such as those described above or as further described in more detail below, is disposed on the robotic arm. The gripping device may be disposed on the robotic arm, specifically by fixing the gripping device to the robotic arm or forming the gripping device on the robotic arm.

[0068] As used herein, the term "instrument" is a broad term and should be given its common and ordinary meaning to one of ordinary skill in the art and should not be limited to a specific or special meaning. This term may specifically, but is not limited to, refer to an apparatus having multiple components as disclosed in more detail below. As used herein, the term "slide transfer instrument" is a broad term and should be given its common and ordinary meaning to one of ordinary skill in the art and should not be limited to a specific or special meaning. This term may specifically, but is not limited to, refer to any instrument configured to actively move any slide from one location to another or vice versa.

[0069] As used herein, the terms "storage device" and "receiving device" are broad terms and should be given their common and ordinary meaning to those skilled in the art, without being limited to any specific or special meaning. This term may specifically, but is not limited to, refer to a slide storage location designated to receive an individual slide holder or to simultaneously receive two or more slide holders, each configured to hold two or more slides. In a preferred embodiment, the storage device may include at least two compartments, each configured to store a portion of the slides. Herein, the compartments may include at least two adjacently arranged rows, thus storing slides adjacent to each other. In particular, the storage device may be selected from a slide tray or a slide rack, although additional types of storage devices may be feasible. However, additional types of arrangements of slides and / or slide holders in the storage device may also be feasible. Thus, the storage device may be preferably manually loadable with a plurality of slides, although automated loading of the storage device is also contemplated.

[0070] As used herein, the term "transfer device" is a broad term and should be given its common and ordinary meaning to one of ordinary skill in the art and should not be limited to a specific or special meaning. The term may specifically refer to, but is not limited to, a device configured to transfer slides from a storage device to at least one receiving device. To this end, the transfer device comprises a robotic arm.

[0071] As used herein, the term "robotic arm" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to any special or customized meaning. This term may specifically, but is not limited to, refer to a programmable mechanical unit having the form of at least one of a hand or an arm and configured to move in a manner similar to a hand or arm using an electric and / or pneumatic drive, for example, but not limited to, grasping at least one object, particularly a slide or slide holder, and transporting it to a predetermined destination. The robotic arm may be a multi-axis robotic arm. Thus, the robotic arm may be configured to move a gripping device in a linear direction along the x-axis, y-axis, and z-axis. Additionally, the robotic arm may be configured to perform tilting movement of the gripping device.

[0072] The transfer of slides from the storage device to at least one receiving device is preferably performed in an automated manner. As used herein, the terms "in an automated manner" and "automatically" are broad terms and should be given their common and ordinary meaning to those skilled in the art and should not be limited to a specific or special meaning. Specifically, but not limited to, the terms may refer to a type of processing that is performed without direct interaction of a user of the slide transfer equipment, based on an algorithm configured to perform the transfer of slides without manual execution by the user.

[0073] In a third aspect of the present invention, a slide imaging device is disclosed. The slide imaging device includes at least one slide transport device, as described above or in further detail below. Furthermore, the slide imaging device includes at least one imaging device configured to generate an image of a sample fixed to a slide. The imaging device may be part of the receiving device, as described above, or may refer to a separate device.

[0074] As used herein, the terms "imaging" or "generating an image" are broad terms and should be given their common and ordinary meaning to those skilled in the art, and should not be limited to any specific or special meaning. The terms may specifically, but without limitation, refer to producing a 2D, or two-dimensional, representation of at least one characteristic of a sample, also referred to by the term "image," which can typically be processed and displayed on a screen to be viewed by an observer's eye, preferably without any further aid apart from the observer's glasses. For this purpose, an imaging device, such as that disclosed in more detail above, is typically used.

[0075] As used herein, the term "imaging device" is a broad term and should be given its common and ordinary meaning to those skilled in the art, without being limited to any specific or special meaning. This term may specifically, but is not limited to, refer to a device designed to generate a 2D representation of at least one visual characteristic of a specimen. In particular, the imaging device may be selected from a 2D camera or a line-scan detector. However, additional types of imaging devices may also be feasible. Accordingly, a slide imaging apparatus according to the present invention may include one, two, three, four, five, six, or more individual imaging devices, with at least one individual imaging device being individually addressed by a supply device, as disclosed in more detail below. Here, additional imaging devices may be maintained, particularly as additional backup options in case two or more imaging devices fail.

[0076] In a fourth aspect of the present invention, a method for gripping at least a slide is disclosed.

[0077] The method includes the following steps, which may be performed in particular in the given order: Furthermore, it is also possible to perform one or more of the method steps once or repeatedly; Furthermore, it is also possible to perform two or more method steps simultaneously or in a time-overlapping manner; The method may also include further method steps not listed:

[0078] The method for gripping at least one slide comprises: a) providing at least one gripping device as further described above or in more detail below, wherein a first contact surface of a first gripping element and a second contact surface of a second gripping element are arranged at a distance from each other; b) moving the gripping device so that the slide is disposed between the first contact surface and the second contact surface; c) gripping the slide via the first contact surface and the second contact surface; Includes.

[0079] In step a), the distance between the first contact surface of the first gripping element and the second contact surface of the second gripping element may be greater than the thickness of the slide, in particular at least twice, preferably at least three times.

[0080] In step b), the gripping device may be moved via a robotic arm, for further details of which reference is made to the above description.

[0081] Before performing step b), the first and second contact surfaces may be horizontally aligned, and the horizontal alignment may be maintained during step b). Therefore, step b) may involve a combination of only horizontal and vertical movement of the first and second contact surfaces. This scenario may be particularly advantageous when there is sufficient space to move the gripping device so that the slide is positioned between the first and second contact surfaces. Specifically, there may be sufficient free space around the end faces of the slide.

[0082] Alternatively, in step b), tilting movement of at least one of the first and second contact surfaces may be performed. Furthermore, horizontal and vertical movement of the first and second contact surfaces may be performed. This scenario may be particularly advantageous when space is limited for moving the gripping device so that the slide is positioned between the first and second contact surfaces. Specifically, the slide may be placed in a slide tray, and the slide may be received in a receptacle of the slide tray, with free space between the frame of the slide tray and one of the end surfaces of the slide.

[0083] Specifically, step b) comprises: b1) performing a first tilting movement of at least one of the gripping devices such that the slide is disposed between the first contact surface and the second contact surface; b2) performing a second tilting movement of at least one of the gripping devices such that the first contact surface and the second contact surface are aligned essentially parallel to the slide, in particular to the sample surface of the slide; may include:

[0084] In step b), the first and second contact surfaces may be positioned at a distance from the slide, and the distance between the first and second contact surfaces may correspond to the distance between the first and second contact surfaces in step a).

[0085] In step c), the slide may be clamped between the first and second contact surfaces, each of which may be in direct contact with the slide or may be in contact with the slide.

[0086] As outlined above, the first gripping element may include at least one additional contact surface, which may be arranged essentially perpendicular to the first contact surface. In step b), the gripping device may be moved such that the slide directly contacts the additional contact surface when gripped via the first and second contact surfaces in step c).

[0087] Alternatively, in step b), the gripping device may be moved so that when the slide is gripped via the first and second contact surfaces in step c), the slide is positioned at a distance from the further contact surface. The distance is specifically 1 mm to 5 mm, preferably 1.5 mm to 3 mm, and most preferably 2 mm. However, other dimensions may also be feasible.

[0088] Therefore, after performing step c), d1) the contact between the second contact surface and the slide can be released, in particular by moving the second gripping element; d2) the gripping device can be moved in a direction towards the slide such that when the slide is gripped again via the first and second contact surfaces, the slide comes into direct contact with the further contact surface, d3) The slide can be gripped via the first contact surface and the second contact surface.

[0089] After step c), the slides can be removed from the slide tray via a gripping device.

[0090] In a fifth aspect of the present invention, a method for releasing at least a slide is disclosed.

[0091] The method includes the following steps, which may be performed in particular in the given order: Furthermore, it is also possible to perform one or more of the method steps once or repeatedly; Furthermore, it is also possible to perform two or more method steps simultaneously or in a time-overlapping manner; The method may also include further method steps not listed:

[0092] The method for releasing at least one slide comprises: i. providing at least one gripping device as further described above or in more detail below, wherein at least one slide is gripped via a first contact surface of a first gripping element and a second contact surface of a second gripping element; ii. placing the slide into a receptacle in a slide tray; iii. increasing the distance between the first contact surface and the second contact surface, in particular by at least a factor of two, preferably by at least a factor of three; iv. Removing the gripping device from the slide; Includes.

[0093] In steps ii and iv, the gripping device may be moved via a robotic arm, for further details of which reference is made to the above description.

[0094] In step ii, the slide may be placed in the receptacle of the slide tray by a combination of exclusive horizontal and vertical movements of the first and second contact surfaces. Alternatively, in step ii, the slide may be placed in the receptacle of the slide tray by tilting movement of at least one of the first and second contact surfaces. Furthermore, horizontal and vertical movements of the first and second contact surfaces may be performed in addition to at least one tilting movement.

[0095] In step iv, the gripping device may be removed from the slide by a combination of exclusive horizontal and vertical movements of the first and second contact surfaces. Alternatively, in step iv, the gripping device may be removed from the slide by tilting movement of at least one of the first and second contact surfaces. Furthermore, horizontal and vertical movements of the first and second contact surfaces may be performed in addition to at least one tilting movement.

[0096] In a sixth aspect of the present invention, a method for transferring at least one slide from at least one storage device to at least one receiving device is disclosed.

[0097] The method includes the following steps, which may be performed in particular in the given order: Furthermore, it is also possible to perform one or more of the method steps once or repeatedly; Furthermore, it is also possible to perform two or more method steps simultaneously or in a time-overlapping manner; The method may also include further method steps not listed:

[0098] A method for transferring at least one slide from at least one storage device to at least one receiving device, comprising: I. providing at least one slide in a storage device; II. Gripping at least one slide via a method for gripping at least one slide as described above or as further described in more detail below; III. Moving at least one slide from a storage device to a receiving device; IV. Discharging at least one slide via a method for discharging at least one slide as described above or further described in more detail below; Includes.

[0099] In step III, the gripping device may be moved via a robotic arm, for further details of which reference is made to the above description.

[0100] In a seventh aspect of the present invention, a method for imaging multiple slides is disclosed.

[0101] The method includes the following steps, which may be performed in particular in the given order: Furthermore, it is also possible to perform one or more of the method steps once or repeatedly; Furthermore, it is also possible to perform two or more method steps simultaneously or in a time-overlapping manner; The method may also include further method steps not listed:

[0102] The method for imaging multiple slides includes: A. loading a plurality of slides into a storage device and storing the slides in the storage device; B. Transferring slides from a storage device to a receiving device via at least one slide transfer method as described above or in even more detail below; C. Producing an image of the slide-fixed sample using an imaging device Includes.

[0103] Further disclosed and proposed herein is a computer program comprising computer-executable instructions for performing one or more of the methods according to the present invention when the program is run on a computer or a computer network, in one or more of the embodiments contained herein. In particular, the computer program may be stored on a computer-readable data carrier and / or a computer-readable storage medium.

[0104] Thus, in particular, one, two or more or even all of method steps a) to c) of the method for gripping at least one slide, in particular method steps b) and c), method steps i) to iv) of the method for releasing at least one slide, in particular method steps ii) to iv), method steps I) to IV) of the method for transferring at least one slide from at least one storage device to at least one receiving device, in particular method steps II) to IV), and method steps A to C of the method for imaging a plurality of slides as set out above, may be performed by a computer or a computer network, preferably by using a computer program.

[0105] The present invention further discloses and proposes a computer program product having program code means which, when run on a computer or a computer network, performs two or more or even all of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, as set forth above, according to the present invention in one or more of the embodiments attached hereto. In particular, the program code means may be stored on a computer-readable data carrier.

[0106] Furthermore, the present invention discloses and proposes a data carrier having a stored data structure, which after being loaded into a computer or a computer network, e.g. a working memory or a main memory of a computer or a computer network, can perform two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, as set forth above, in one or more of the embodiments disclosed herein.

[0107] The present invention further discloses and proposes a computer program product having program code means stored on a machine-readable carrier, which, when executed on a computer or computer network, performs two or more, or even all, of method steps a)-c), particularly method steps b) and c), of the method for grasping at least one slide; method steps i)-iv), particularly method steps ii)-iv), of the method for releasing at least one slide; method steps I)-IV), particularly method steps II)-IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device; and method steps A)-C), of the method for imaging a plurality of slides, as set forth above, according to one or more of the embodiments disclosed herein. As used herein, a computer program product refers to a program as a tradeable product. The product may generally exist in any form, such as paper form, or may reside on a computer-readable data carrier. In particular, the computer program product may be distributed over a data network.

[0108] Finally, the present invention discloses and proposes a modulated data signal comprising instructions readable by a computer system or computer network for performing two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, as set forth above, according to one or more of the embodiments disclosed herein.

[0109] Preferably, with reference to computer-implemented aspects of the present invention, two or more, or even all, of method steps a)-c), particularly method steps b) and c), of the method for grasping at least one slide, method steps i)-iv), particularly method steps ii)-iv), of the method for releasing at least one slide, method steps I)-IV), particularly method steps II)-IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A)-C), of the method for imaging a plurality of slides, as set forth above, according to one or more of the embodiments disclosed herein, may be performed using a computer or a computer network. Thus, in general, any of the method steps involving providing and / or manipulating data may be performed using a computer or a computer network. In general, these method steps may include any method steps, except for those that typically require manual intervention, such as providing a sample and / or certain aspects of performing the actual measurements.

[0110] In particular, the present invention further discloses: a computer or computer network including at least one processor, the processor being adapted to perform two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein; a computer-storable data structure adapted to perform, while the data structure is running on the computer, two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein; a computer program, which is adapted to perform, while the program is running on a computer, two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein, a computer program comprising program means for executing, while the computer program is running on a computer or a computer network, two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein, a computer program comprising program means according to the preceding embodiment, the program means being stored on a computer-readable storage medium; a storage medium, on which a data structure is stored and which is adapted to perform two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein, after the data structure has been loaded into a main and / or working storage of a computer or a computer network, - a computer program product having program code means which can be stored on a storage medium or which is stored on a storage medium, such that when the program code means is executed on a computer or a computer network, the computer program product performs two or more, or even all, of method steps a) to c), in particular method steps b) and c), of the method for gripping at least one slide, method steps i) to iv), in particular method steps ii) to iv), of the method for releasing at least one slide, method steps I) to IV), in particular method steps II) to IV), of the method for transferring at least one slide from at least one storage device to at least one receiving device, and method steps A) to C), of the method for imaging a plurality of slides, according to one of the embodiments described herein.

[0111] In summary, without excluding further embodiments, the following embodiments can be envisaged:

[0112] Embodiment 1: A gripping device configured to grip at least one slide, the gripping device comprising: at least one first gripping element, the first gripping element comprising at least one first contact surface for gripping the slide; at least one second gripping element, the second gripping element comprising at least one second contact surface for gripping the slide, the second gripping element further comprising at least two protrusions each extending essentially perpendicular to the second contact surface, the at least two protrusions being arranged at opposite ends of the second contact surface, the at least two protrusions being configured to center the slide during gripping of the slide via the gripping device; A gripping device, wherein the first gripping element and the second gripping element are linearly movable relative to each other, and the first contact surface of the first gripping element and the second contact surface of the second gripping element face each other.

[0113] Embodiment 2: A gripping device according to the preceding embodiment, wherein the first surface of the first gripping element and the second surface of the second gripping element are substantially planar.

[0114] Embodiment 3: A gripping device according to any one of the preceding embodiments, wherein the slide comprises at least one sample surface configured to receive at least one sample and at least one opposing rear surface, wherein a first contact surface of the first gripping element is configured to contact the rear surface and a second contact surface of the second gripping element is configured to contact the sample surface.

[0115] Embodiment 4: A gripping device according to any one of the preceding embodiments, wherein the distance between the at least two protrusions is essentially equal to the width of the slide.

[0116] Embodiment 5: A gripping device according to any one of the preceding embodiments, wherein the first contact surface of the first gripping element has the shape of a rectangular base.

[0117] Embodiment 6: A gripping device described in any one of the preceding embodiments, wherein the first contact surface of the first gripping element has a length and a width, and the length exceeds the width by at least 1.5 times, preferably at least 2 times, and most preferably at least 2.5 times.

[0118] Embodiment 7: A gripping device described in any one of the preceding embodiments, wherein the first gripping element comprises at least one first contact component having a first contact surface and at least one first guiding component configured to guide the first contact component.

[0119] Embodiment 8: A gripping device according to the preceding embodiment, wherein the first contact component and the first guiding component are attached to each other, preferably physically bonded.

[0120] Embodiment 9: A gripping device according to the preceding embodiment, wherein the first contact component and the first guiding component are manufactured as a single unit.

[0121] Embodiment 10: A gripping device described in any one of the three preceding embodiments, wherein the first guiding component is an elongated element and the first contact surface is arranged essentially perpendicular to the longitudinal axis of the first guiding component.

[0122] Embodiment 11: A gripping device as described in the preceding embodiment, wherein the first contact component has at least one surface opposite the first contact surface, the surface being arranged at an angle less than 90° relative to the longitudinal axis of the first guide component.

[0123] Embodiment 12: A gripping device as described in the preceding embodiment, wherein the surface is disposed at an angle of 80° to 89° relative to the longitudinal axis of the first guidance component.

[0124] Embodiment 13: A grasping device described in any one of the three preceding embodiments, wherein the first guide component has at least one hole, particularly at least one drilled hole, extending along the longitudinal axis of the first guide component.

[0125] Embodiment 14: A gripping device described in any one of the seven preceding embodiments, wherein the first guiding component is configured to be attached to at least one actuator configured to enable linear movement of the first gripping element.

[0126] Embodiment 15: A gripping device described in any one of the eight preceding embodiments, wherein the first contact component has at least one first end and at least one second end, the first guide component is attached to the first contact component at the second end, and the thickness of the first contact component gradually decreases from the second end to the first end.

[0127] Embodiment 16: A gripping device described in any one of the nine preceding embodiments, wherein the connection region between the first contact component and the first guiding component comprises at least one rounded corner.

[0128] Embodiment 17: A gripping device described in any one of the ten preceding embodiments, wherein the first gripping element has at least one further contact surface, the further contact surface being arranged essentially perpendicular to the first contact surface.

[0129] Embodiment 18: A gripping device according to the preceding embodiment, wherein the further contact surface is configured to apply a reaction force to the slide.

[0130] Embodiment 19: A gripping device described in any one of the two preceding embodiments, wherein the further contact surface is a surface of the first guidance component.

[0131] Embodiment 20: A gripping device described in any one of the three preceding embodiments, wherein the first guiding component is tapered in the area of ​​the further contact surface.

[0132] Embodiment 21: A gripping device according to any one of the four preceding embodiments, wherein the first gripping element has an essentially L-shape.

[0133] Embodiment 22: A gripping device according to any one of the preceding embodiments, wherein the second contact surface has essentially a T-shape.

[0134] Embodiment 23: A gripping device described in any one of the preceding embodiments, wherein the second contact surface extends in a plane defined by an x-axis and a y-axis arranged perpendicular to each other, and the second contact surface comprises at least one first region and at least one second region, and the first region and the second region have different lengths along the x-axis and the y-axis, respectively.

[0135] Embodiment 24: A gripping device according to the preceding embodiment, wherein the first region and the second region each have an essentially rectangular shape.

[0136] Embodiment 25: A gripping device described in any one of the two preceding embodiments, wherein the second region is centered relative to the first region.

[0137] Embodiment 26: A gripping device described in any one of the three preceding embodiments, wherein the second region is configured to distribute a holding force to the slide.

[0138] Embodiment 27: A gripping device described in any one of the four preceding embodiments, wherein at least two protrusions are arranged at opposite ends of the first region.

[0139] Embodiment 28: The first region has a length l along the x-axis. 11 and the length along the y-axis, l 12 and the second region has a length l along the x-axis. 21 and the length along the y-axis, l 22 10. The gripping device of any one of the five preceding embodiments,

[0140] Embodiment 29: Length l 21 is the length l 11The gripping device according to the preceding embodiment is larger, in particular at least 1.5 times, preferably at least 1.7 times, most preferably at least 1.9 times.

[0141] Embodiment 30: Length l 12 is the length l 22 The gripping device according to any one of the two preceding embodiments, which is larger, in particular at least twice as large, preferably at least three times as large, and most preferably at least five times as large.

[0142] Embodiment 31: Length l 12 is the length l 11 The gripping device of any one of the three preceding embodiments, which is larger, specifically at least 2 times, preferably at least 3 times, and most preferably at least 3.5 times.

[0143] Embodiment 32: Length l 21 is the length l 22 The gripping device of any one of the four preceding embodiments, which is larger, specifically at least 1.5 times, preferably at least 2 times, and most preferably at least 2.5 times.

[0144] Embodiment 33: Length l 12 3. The gripping device of any one of the five preceding embodiments, wherein is essentially equal to the width of the slide.

[0145] Embodiment 34: A gripping device described in any one of the preceding embodiments, wherein the second gripping element comprises at least one second contact component having a second contact surface and at least one second guiding component configured to guide the second contact component.

[0146] Embodiment 35: A gripping device according to the preceding embodiment, wherein the second contact component and the second guiding component are attached to each other, preferably physically bonded.

[0147] Embodiment 36: A gripping device according to the preceding embodiment, wherein the second contact component and the second guiding component are manufactured as a single unit.

[0148] Embodiment 37: A gripping device described in any one of the three preceding embodiments, wherein the second guiding component is an elongated element, the second guiding element has at least one first end and at least one opposing second end, and the second contact surface is disposed on the first end of the second guiding element.

[0149] Embodiment 38: A gripping device as described in the preceding embodiment, wherein the second guide component is tapered from the first end to the second end.

[0150] Embodiment 39: A gripping device described in any one of the five preceding embodiments, wherein the second contact surface is arranged essentially perpendicular to the longitudinal axis of the second guidance component.

[0151] Embodiment 40: A gripping device described in any one of the six preceding embodiments, wherein the second guiding component is configured to be attached to at least one actuator configured to enable linear movement of the second gripping element.

[0152] Embodiment 41: A slide transfer device, comprising: at least one storage device, the storage device being capable of loading a plurality of slides and configured to store the slides; at least one receiving device, the receiving device configured to receive slides transferred from the storage device; and at least one transfer device configured to transfer slides from a storage device to a receiving device, the transfer device comprising at least one robotic arm, on which at least one gripping device according to any one of the preceding claims is arranged; and A slide transfer device comprising:

[0153] Embodiment 42: A slide transfer device as described in the preceding embodiment, wherein the robotic arm is a multi-axis robotic arm.

[0154] Embodiment 43: A slide imaging device, comprising: at least one slide transport device according to any one of the preceding claims; at least one imaging device configured to generate an image of the sample fixed on the slide; A slide imaging device comprising:

[0155] Embodiment 44: A method for gripping at least one slide, comprising: a) providing at least one gripping device according to any one of the preceding claims referring to a gripping device, wherein a first contact surface of a first gripping element and a second contact surface of a second gripping element are arranged at a distance from each other; b) moving the gripping device so that the slide is disposed between the first contact surface and the second contact surface; c) gripping the slide via the first contact surface and the second contact surface; A method comprising:

[0156] Embodiment 45: The method according to the preceding embodiment, wherein in step a), the distance between the first contact surface of the first gripping element and the second contact surface of the second gripping element is longer than the thickness of the slide.

[0157] Embodiment 46: A method according to any one of the two preceding embodiments, wherein before performing step b), the first contact surface and the second contact surface are horizontally aligned, respectively, and the horizontal alignment is maintained while performing step b).

[0158] Embodiment 47: A method according to any one of the three preceding embodiments, wherein in step b), a tilting movement of at least one of the first contact surface and the second contact surface is performed.

[0159] Embodiment 48: Step b) b1) performing a first tilting movement of at least one of the gripping devices such that the slide is disposed between the first contact surface and the second contact surface; b2) performing a second tilting movement of at least one of the gripping devices such that the first contact surface and the second contact surface are each aligned essentially parallel to the slide; 10. The method of claim 1, comprising:

[0160] Embodiment 49: A method according to any one of the five preceding embodiments, wherein in step b), the first contact surface and the second contact surface are each positioned at a distance relative to the slide.

[0161] Embodiment 50: The method of any one of the six preceding embodiments, wherein in step c), the first contact surface and the second contact surface each directly contact the slide.

[0162] Embodiment 51: A method according to any one of the seven preceding embodiments, wherein in step c), the slide is clamped between the first contact surface and the second contact surface.

[0163] Embodiment 52: A method according to any one of the eight preceding embodiments, wherein the first gripping element comprises at least one further contact surface, the further contact surface being arranged essentially perpendicular to the first contact surface.

[0164] Embodiment 53: A method as described in the preceding embodiment, wherein in step b), the gripping device is moved so that when the slide is gripped via the first contact surface and the second contact surface in step c), the slide directly contacts the further contact surface.

[0165] Embodiment 54: A method according to any one of the two preceding embodiments, wherein in step b), the gripping device is moved so that when the slide is gripped via the first contact surface and the second contact surface in step c), the slide is positioned at a distance relative to the further contact surface.

[0166] Embodiment 55: After performing step c), d1) the contact between the second contact surface and the slide can be released, in particular by moving the second gripping element; d2) the gripping device can be moved in a direction towards the slide such that when the slide is gripped again via the first and second contact surfaces, the slide comes into direct contact with the further contact surface, d3) The method of any preceding embodiment, wherein the slide is gripped via the first contact surface and the second contact surface.

[0167] Embodiment 56: The method of any one of the preceding embodiments, wherein after step c), the slide is removed from the slide tray via a gripping device.

[0168] Embodiment 57: A method for releasing at least one slide, comprising: i. Providing at least one gripping device according to any one of the preceding claims referring to a gripping device, wherein at least one slide is gripped via a first contact surface of a first gripping element and a second contact surface of a second gripping element; ii. placing the slide into a receptacle in a slide tray; iii. increasing the distance between the first contact surface and the second contact surface; iv. Removing the gripping device from the slide; A method comprising:

[0169] Embodiment 58: The method of the preceding embodiment, wherein in step ii, the slide is placed into the receptacle of the slide tray by a combination of exclusive horizontal and vertical movements of the first contact surface and the second contact surface.

[0170] Embodiment 59: A method according to any one of the two preceding embodiments, wherein in step ii, the slide is placed in the receptacle of the slide tray by tilting movement of at least one of the first contact surface and the second contact surface.

[0171] Embodiment 60: A method according to any one of the three preceding embodiments, wherein in step iv, the gripping device is detached from the slide by a combination of exclusive horizontal and vertical movements of the first contact surface and the second contact surface.

[0172] Embodiment 61: A method according to any one of the four preceding embodiments, wherein in step iv, the gripping device is detached from the slide by tilting movement of at least one of the first contact surface and the second contact surface.

[0173] Embodiment 62: A method for transferring at least one slide from at least one storage device to at least one receiving device, comprising: I. providing at least one slide in a storage device; II. Gripping at least one slide via a method for gripping at least one slide according to any one of the preceding claims referring to a method for gripping at least one slide; III. Moving at least one slide from a storage device to a receiving device; IV. Discharging at least one slide via a method for discharging at least one slide according to any one of the preceding claims referring to a method for gripping at least one slide; A method comprising:

[0174] Embodiment 63: A method for imaging a plurality of slides, comprising: A. loading a plurality of slides into a storage device and storing the slides in the storage device; B. Transferring a slide from a storage device to a receiving device via a method for transferring at least one slide according to any one of the preceding claims referring to a method for transferring at least one slide from at least one storage device to at least one receiving device; C. Producing an image of the slide-fixed sample using an imaging device A method comprising: [Brief explanation of the drawings]

[0175] Further optional features and embodiments are disclosed in more detail in the following description of the embodiments, preferably in conjunction with the dependent claims. Therein, each optional feature can be realized separately and in any possible combination, as understood by a person skilled in the art. The scope of the present invention is not limited by the preferred embodiments. The embodiments are illustrated schematically in the figures, in which the same reference numerals in these figures refer to the same or functionally equivalent elements.

[0176] [Figure 1] 1 shows a schematic representation of a preferred embodiment of a first gripping element of a gripping device according to the invention; [Figure 2] 1 shows a schematic representation of a preferred embodiment of a second gripping element of a gripping device according to the invention; [Figure 3] 1 shows a schematic representation of a preferred embodiment of a gripping device according to the invention; [Figure 4A] 1 illustrates an exemplary embodiment of a method for gripping a slide according to the present invention. [Figure 4B] 1 illustrates an exemplary embodiment of a method for gripping a slide according to the present invention. [Figure 4C] 1 illustrates an exemplary embodiment of a method for gripping a slide according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0177] Detailed Description of the Embodiments 1 shows a schematic representation of a preferred embodiment of a first gripping element 110 of a gripping device according to the invention. The first gripping element 110 is shown in perspective.

[0178] The first gripping element 110 includes at least one first contact surface 112 for gripping a slide (not shown in FIG. 1 ). The first contact surface 112 may be substantially planar. The first contact surface 112 of the first gripping element 110 may have the shape of a rectangular base. The first contact surface 112 may have a length l and a width w, where the length l exceeds the width w by at least 1.5 times.

[0179] The first gripping element 110 may include at least one first contact component 114 having a first contact surface 112 and at least one first guide component 116 configured to guide the first contact component 114. The first contact component 114 and the first guide component 116 may illustratively be manufactured as a single unit.

[0180] The first guide component 116 may be an elongated element. The first contact surface 112 may be disposed essentially perpendicular to a longitudinal axis 118 of the first guide component 116.

[0181] The first contact component 114 may include at least one surface 120 facing the first contact surface 112. The surface 120 may be disposed at an angle α less than 90° relative to the longitudinal axis 118 of the first guide component 116.

[0182] The first contact component 114 may include at least one first end 122 and at least one opposite second end 124. The first guide component 114 may be attached to the first contact component 114 at the second end 124. A thickness t of the first contact component 114 may gradually decrease from the second end 124 to the first end 122.

[0183] The first guide component 116 may be configured to attach to at least one actuator (not shown) configured to enable linear movement of the first gripping element 110. To this end, the first guide component may include at least one hole 126 for attaching the first gripping element 110 to the actuator.

[0184] The connection region 128 between the first contact component 114 and the first guide component 116 may include at least one rounded corner 130 .

[0185] The first gripping element 110 may include at least one additional contact surface 132. The additional contact surface 132 may be arranged essentially perpendicular to the first contact surface 112. The additional contact surface 132 may be configured to apply a reaction force to the slide. The additional contact surface 132 may be a surface of the first guide component 116. The first guide component 116 may be tapered in the region of the additional contact surface 132.

[0186] 2 shows a schematic representation of a preferred embodiment of a second gripping element 134 of a gripping device according to the invention. The second gripping element 134 is shown in perspective.

[0187] The second gripping element 134 includes at least one second contact surface 136 for gripping a slide (not shown in FIG. 2). The second contact surface 136 may be substantially planar. A detailed view of the second contact surface 136 is shown in FIG. 3.

[0188] The second gripping element 134 may include at least one second contact component 138 having a second contact surface 136 and at least one second guide component 140 configured to guide the second contact component 138. The second contact component 138 and the second guide component 140 may be attached to one another, preferably by physical bonding.

[0189] The second inductive component 140 may be an elongated element. The second inductive element 140 may include at least one first end 142 and at least one opposing second end 144. The second contact surface 136 may be disposed at the first end 142 of the second inductive element 140. The second inductive component 138 may taper from the first end 142 to the second end 144.

[0190] The second contact surface 136 may be disposed essentially perpendicular to the longitudinal axis 146 of the second guide component 140 .

[0191] The second guide component 140 may be configured to attach to at least one actuator (not shown) configured to enable linear movement of the second gripping element. To this end, the second guide component 140 may include at least one hole 148 for attaching the second guide component 140 to the actuator.

[0192] 3 shows a schematic representation of another embodiment of a gripping device 150 according to the present invention. The gripping device 150 is shown in a perspective view. The gripping device 150 comprises at least one first gripping element 110 and at least one second gripping element 134. The first gripping element 110 corresponds to the first gripping element 110 as shown in FIG. 1 . Reference is therefore made to the description of FIG. 1 above. The second gripping element 134 corresponds to the second gripping element 134 shown in FIG. 2 . Reference is therefore made to the description of FIG. 2 above.

[0193] 3 provides another view of the first guide component 116 of the first grasping element 110. As shown in FIG. 3, the first guide component 116 may include at least one hole 152, specifically at least one drilled hole 154. The hole 152 may extend along a longitudinal axis 118 of the first guide component 116.

[0194] Furthermore, FIG. 3 allows for a detailed view of the second contact surface 136 of the second gripping element 134. The second contact surface 136 may have an essentially T-shape. The second contact surface 136 may extend in a plane defined by an x-axis and a y-axis that are perpendicular to each other. The second contact surface 136 may include at least one first region 156 and at least one second region 158. The first region 156 and the second region 158 may have different lengths along the x-axis and the y-axis, respectively. The first region 156 and the second region 158 may each have an essentially rectangular shape. The second region 158 may be centered with the first region 156. The second region 158 may be configured to distribute the gripping force of the slide. The first region 156 has a length l along the x-axis. 11 and the length along the y-axis, l 12 The second region 158 may have a length l along the x-axis. 21 and the length along the y-axis, l 22 may have length l 21 is the length l 11よりも It may be longer, specifically at least 1.9 times longer. 12 is the length l 22よりも It may be longer, specifically at least 5 times longer. 12 is the length l 11より It may be longer, specifically at least 3.5 times longer. 21 is the length l 22より It may be longer, specifically at least 2.5 times longer. 12 may be essentially equal to the width of the slide.

[0195] The second gripping element 134 further includes at least two protrusions 160, each extending essentially perpendicular to the second contact surface 136. The protrusions 160 are visible in Figures 2 and 3. The at least two protrusions 160 are disposed on opposite ends 162 of the second contact surface 136. The at least two protrusions 160 are configured to center the slide during gripping via the gripping device 150.

[0196] The distance between the at least two protrusions 160 may be essentially equal to the width of the slide. The at least two protrusions 160 may be disposed at opposite ends 164 of the first region 156. The first region 156 may be connected to the second guide component 138 via a bar 166 extending transversely to the longitudinal axis 146. Specifically, the ends 164 of the first region 156 may each be connected to the second guide component 140 via a bar 166.

[0197] Figures 4A-4C show an exemplary embodiment of a method for gripping a slide 168 according to the present invention. The gripping device 150 shown in Figures 4A-4C corresponds to the gripping device 150 shown in Figure 3. Therefore, reference is made to the description of Figure 3 above.

[0198] 4A, slide 168 may be received in slide tray 170. Slide 168 may be received in receptacle 172 of slide tray 170. There may be a gap 174 between a frame 176 of slide tray 170 and an end face 178 of slide 168. Slide 169 may have a rear face 184 facing sample face 182.

[0199] 4A , a gripping device 150 is provided, and the first contact surface 112 of the first gripping element 110 and the second contact surface 136 of the second gripping element 134 are disposed at a distance from each other. The gripping device 150 is moved so that the slide 168 is disposed between the first contact surface 112 and the second contact surface 136, specifically via a gap 174. The gripping device 150 may be moved via a robot arm 180. In particular, the first contact surface 112 of the first gripping element 110 may be carried at an end surface 178 of the slide 168, below a rear surface 184 of the slide 168.

[0200] 4A , at least one first tilting movement of the gripping device 150, specifically of the first contact surface 112 and the second contact surface 136, may be performed so that the slide 168 is disposed between the first contact surface 112 and the second contact surface 136. The first tilting movement may be performed by the robot arm 180.

[0201] As shown in FIG. 4B, the gripping device 150 can be moved so that when the slide 168 is gripped via the first contact surface 112 and the second contact surface 136, the slide 168 is positioned at a distance from the further contact surface 132.

[0202] Thereafter, as shown in FIG. 4C , contact between the second contact surface 136 and the slide 168 can be released, specifically by moving the second gripping element 134, and the gripping device 150 can be moved in a direction toward the slide 168 so that the slide 168 comes into direct contact with the further contact surface 132 when it is again gripped via the first contact surface 112 and the second contact surface 136. [Explanation of symbols]

[0203] 110 first gripping element 112 first contact surface 114 First Contact Component 116 First Induction Component 118 Longitudinal Axis 120 surface 122 first end 124 Second End 126 holes 128 Contact area 130 rounded corners 132 Further Contact Surfaces 134 Second gripping element 136 Second Contact Surface 138 Second Contact Component 140 Second Induction Component 142 first end 144 Second End 146 Longitudinal Axis 148 holes 150 Gripping device 152 holes 154 drill holes 156 First Area 158 Second Area 160 Protrusion 162 End 164 End 166 Bar 168 slides 170 Sliding Tray 172 Receptacle 174 Gap 176 frames 178 End face 180 Robot Arm 182 Sample surface 184 Rear

Claims

1. A gripping device (150) configured to grip at least one slide (168), said gripping device (150) comprising: at least one first gripping element (110), said first gripping element (110) comprising at least one first contact surface (112) for gripping said slide (168); at least one second gripping element (134), the second gripping element (134) comprising at least one second contact surface (136) for gripping the slide (168), the second gripping element (134) further comprising at least two protrusions (160) each extending essentially perpendicular to the second contact surface (136), the at least two protrusions (160) being arranged on opposite ends (162) of the second contact surface (136), the at least two protrusions (160) being configured to center the slide (168) during gripping of the slide (168) via the gripping device (150); a gripping device (150) in which the first gripping element (110) and the second gripping element (134) are linearly movable relative to each other, the first contact surface (112) of the first gripping element (110) and the second contact surface (136) of the second gripping element (134) face each other, the slide (168) comprises at least one sample surface (182) configured to receive at least one sample and at least one opposing rear surface (184), the first contact surface (112) of the first gripping element (110) configured to contact the rear surface (184), and the second contact surface (136) of the second gripping element (134) configured to contact the sample surface (182).

2. 2. The gripping device (150) of claim 1, wherein the first gripping element (110) comprises at least one first contact component (114) having the first contact surface (112) and at least one first guide component (116) configured to guide the first contact component (114), and the first contact surface (112) is arranged essentially perpendicular to a longitudinal axis (118) of the first guide component (116).

3. 3. The gripping device (150) of claim 2, wherein the first contact component (114) comprises at least one surface (120) facing the first contact surface (112), the surface (120) being disposed at an angle of less than 90° relative to the longitudinal axis (118) of the first guide component (116).

4. 4. The gripping device (150) according to claim 2 or 3, wherein the first gripping element (110) comprises at least one further contact surface (132), the further contact surface (132) being arranged essentially perpendicular to the first contact surface (112), and the further contact surface (132) being configured to apply a reaction force to the slide (168).

5. The gripping device (150) of any one of claims 1 to 4, wherein the second contact surface (136) has an essentially T-shape.

6. 6. The gripping device according to claim 1, wherein the second contact surface extends in a plane defined by an x-axis and a y-axis that are perpendicular to each other, the second contact surface comprising at least one first region and at least one second region, the first region and the second region having different lengths along the x-axis and the y-axis, respectively, the first region and the second region each having an essentially rectangular shape, and the second region being centered with respect to the first region.

7. 7. The gripping device (150) of claim 6, wherein the at least two protrusions (160) are located at opposite ends of the first region (156).

8. A slide transfer device, the slide transfer device comprising: at least one storage device, said storage device being loadable with a plurality of slides (168) and configured to store said slides (168); at least one receiving device, said receiving device configured to receive slides (168) transferred from said storage device; at least one transfer device configured to transfer the slides (168) from the storage device to the receiving device, the transfer device comprising at least one robotic arm, on which at least one gripping device (150) according to any one of claims 1 to 7 is arranged; and A slide transfer device comprising:

9. A slide imaging device, comprising: - at least one slide transport device according to claim 8; at least one imaging device configured to generate an image of a sample fixed on a slide (168); A slide imaging device comprising:

10. A method of gripping at least one slide (168), comprising: a) providing at least one gripping device (150) according to any one of claims 1 to 7, which refers to a gripping device (150), wherein the first contact surface (112) of the first gripping element (110) and the second contact surface (136) of the second gripping element (134) are arranged at a distance from each other; b) moving the gripping device (150) so that the slide (168) is positioned between the first contact surface (112) and the second contact surface (136); c) gripping said slide (168) via said first contact surface (112) and said second contact surface (136); A method comprising:

11. In step b), a tilting movement of at least one of the first contact surface (112) and the second contact surface (136) is performed, and step b) comprises: b1) performing at least one first tilting movement of said gripping device (150) such that said slide (168) is positioned between said first contact surface (112) and said second contact surface (136); b2) performing a second tilting movement of at least one of said gripping devices (150) such that said first contact surface (112) and said second contact surface (136) are aligned essentially parallel to said slide (168); The method of claim 10, comprising:

12. the first gripping element (110) comprises at least one further contact surface (132), the further contact surface (132) being arranged essentially perpendicular to the first contact surface (112), and in step b) the gripping device (150) is moved in such a way that when the slide (168) is gripped in step c) via the first contact surface (112) and the second contact surface (136), the slide (168) is arranged at a distance from the further contact surface (132), and after carrying out step c), d1) contact between the second contact surface (136) and the slide (168) is released; d2) the gripping device (150) is moved in a direction towards the slide (168) so that the slide (168) comes into direct contact with the further contact surface when the slide (168) is gripped again via the first contact surface (112) and the second contact surface (136); 12. The method according to claim 10 or 11, wherein d3) the slide (168) is gripped via the first contact surface (112) and the second contact surface (136).

13. A method of ejecting at least one slide (168), comprising: i. Providing at least one gripping device (150) according to any one of claims 1 to 7, wherein at least one slide (168) is gripped via the first contact surface (112) of the first gripping element (110) and the second contact surface (136) of the second gripping element (134); ii. placing said slide (168) in a receptacle of a slide tray (170); iii. Increasing the distance between the first contact surface (112) and the second contact surface (136); iv. Removing said gripping device (150) from said slide (168); A method comprising:

14. 1. A method for transferring at least one slide (168) from at least one storage device to at least one receiving device, comprising: I. Providing said at least one slide (168) in said storage device; II. Gripping at least one slide (168) via a method for gripping at least one slide (168) according to any one of claims 10 to 12; III. Moving the at least one slide (168) from the storage device to the receiving device; IV. Discharging at least one slide (168) via the method for discharging at least one slide (168) according to claim 13; A method comprising:

15. 1. A method for imaging a plurality of slides (168), comprising: A. Loading a plurality of slides (168) into a storage device and storing said slides (168) in said storage device; B. Transferring at least one slide (168) from the storage device to a receiving device via a method for transferring said slide (168) as set forth in claim 14; C. using said imaging device to generate an image of the sample fixed on said slide (168); A method comprising:

Images