Apparatus and method for adaptive handling of slides using a robotic arm

Abstract

To provide an apparatus and method for adaptive handling of slides using a robotic arm.SOLUTION: The apparatus includes at least a computing device including a processor and a memory communicatively connected to the processor. The memory instructs the processor to receive a calibration procedure, wherein the calibration procedure is generated using the plurality of waypoints. The processor controls at least the robotic arm according to a calibration procedure, wherein the calibration procedure is configured to cause the robotic arm to pick a slide using a pick waypoint of the plurality of waypoints and place the slide using a place waypoint of the plurality of waypoints. The processor receives a plurality of feedback from at least the robot arm and generates an adapted pick waypoint using the plurality of feedback. The memory instructs the processor to generate an adapted place waypoint using the plurality of feedbacks.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates generally to the field of robotic automation, and more particularly to an apparatus and method for adaptive handling of slides using a robotic arm. [Background technology]

[0002] This technical field relates to robotic automation, and specifically focuses on the handling of delicate objects such as glass slides. Current systems require precise handling and placement of these objects, which can be difficult due to variations in object size and positioning. Summary of the Invention

[0003] In one aspect, an apparatus for adaptive handling of slides using a robotic arm includes at least a processor and a memory communicatively coupled to the processor, the memory including instructions for configuring the processor to receive a calibration procedure generated using a plurality of waypoints, control at least the robotic arm according to the calibration procedure, the calibration procedure causing the robotic arm to pick a slide using a pick waypoint of the plurality of waypoints, place a slide using a place waypoint of the plurality of waypoints, receive a plurality of feedbacks from at least the robotic arm, generate an adapted pick waypoint using the plurality of feedbacks, and generate an adapted place waypoint using the plurality of feedbacks.

[0004] In another aspect, a method for adaptive handling of slides using a robotic arm includes receiving a calibration procedure generated using a plurality of waypoints, controlling at least the robotic arm in accordance with the calibration procedure, the calibration procedure including causing the robotic arm to pick a slide using a pick waypoint from the plurality of waypoints, causing the robotic arm to place the slide using a place waypoint from the plurality of waypoints, receiving a plurality of feedbacks from at least the robotic arm, generating an adapted pick waypoint using the plurality of feedbacks, and generating an adapted place waypoint using the plurality of feedbacks.

[0005] These and other aspects and features of non-limiting embodiments of the present invention will become apparent to those skilled in the art upon review of the following description of specific non-limiting embodiments of the present invention in conjunction with the accompanying drawings.

[0006] For the purpose of illustrating the invention, the drawings show aspects of one or more embodiments of the invention, it being understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram of an apparatus for adaptive handling of slides using a robotic arm. [Figure 2] FIG. 1 illustrates an exemplary embodiment of a slide handling operation using a robotic arm. [Figure 3A] 10 illustrates an exemplary embodiment of Z-plane adaptation in picking. [Figure 3B] 1 illustrates an exemplary embodiment of plane adaptation in picking. [Figure 4A] 10 illustrates an exemplary embodiment of slide pose adaptation before placing the slide on the XY stage. [Figure 4B] 10 illustrates an exemplary embodiment of slide pose adaptation before placing the slide on the XY stage. [Figure 5A] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 5B] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 5C] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 5D] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 5E] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 5F] 10 illustrates an exemplary embodiment of a procedure for handling slides that may become stuck in the gripper jaws. [Figure 6A] 10 illustrates an exemplary embodiment of slide orientation adaptation before being placed back into the slide basket. [Figure 6B] 10 illustrates an exemplary embodiment of slide orientation adaptation before being placed back into the slide basket. [Figure 6C] 10 illustrates an exemplary embodiment of slide orientation adaptation before being placed back into the slide basket. [Figure 6D] 10 illustrates an exemplary embodiment of slide orientation adaptation before being placed back into the slide basket. [Figure 6E] 10 illustrates an exemplary embodiment of slide orientation adaptation before being placed back into the slide basket. [Figure 7] FIG. 1 is a block diagram of an exemplary method for adaptive handling of slides using a robotic arm. [Figure 8] FIG. 1 is a block diagram of a computing system that may be used to implement any one or more of the methodologies and portions thereof disclosed herein. DETAILED DESCRIPTION OF THE INVENTION

[0008] The drawings are not necessarily to scale and may be illustrated by dashed lines, schematic diagrams, and partial views. In certain instances, details that are not necessary for understanding the embodiments or that obscure other details may be omitted.

[0009] At a high level, aspects of the present disclosure are directed to an apparatus and method for adaptive handling of slides using a robotic arm. The apparatus includes at least a computing device including a processor and a memory communicatively connected to the processor. The memory instructs the processor to receive a calibration procedure, the calibration procedure being generated using a plurality of waypoints. The processor controls at least the robotic arm in response to the calibration procedure, the calibration procedure being configured to cause the robotic arm to pick a slide using a pick waypoint from the plurality of waypoints and to place the slide using a place waypoint from the plurality of waypoints. The processor receives a plurality of feedbacks from at least the robotic arm. Additionally, the processor generates an adapted pick waypoint using the plurality of feedbacks. The memory then instructs the processor to generate an adapted place waypoint using the plurality of feedbacks.

[0010] Referring now to FIG. 1 , an exemplary embodiment of an apparatus 100 for adaptive handling of slides using a robotic arm is shown. The apparatus 100 may include a processor 104 communicatively connected to a memory 108. As used in this disclosure, “communicatively connected” means connected by a connection, attachment, or coupling that allows for the reception and / or transmission of information between two or more entities. For example, but not limited to, the connection may be wired or wireless, direct or indirect, and between two or more components, circuits, devices, systems, etc., allowing for the reception and / or transmission of data and / or signals. The data and / or signals therebetween may include, but are not limited to, electrical, electromagnetic, magnetic, visual, audio, radio and microwave data and / or signals, combinations thereof, and the like, among others. The communicative connection may be achieved, for example, but not limited to, by wired or wireless electronic, digital, or analog communication, directly or through one or more intervening devices or components. Additionally, a communicative connection may include electrically coupling or connecting at least an output of one device, component, or circuit to at least an input of another device, component, or circuit, for example, but not limited to, via a bus or other facility for intercommunication between computing device elements. A communicative connection may also include an indirect connection, for example, but not limited to, via a wireless connection, wireless communication, a low-power wide area network, optical communication, magnetic coupling, capacitive coupling, optical coupling, etc. In some cases, the term "communicatively coupled" may be used in this disclosure instead of "communicatively connected."

[0011] Continuing with reference to FIG. 1 , memory 108 may include primary memory and secondary memory. “Primary memory,” also known as “random access memory” (RAM) for purposes of this disclosure, is a short-term storage device on which information is processed. In one or more embodiments, during use of the computing device, instructions and / or information can be sent to the primary memory, and the information can be processed. In one or more embodiments, information may only be loaded into the primary memory while particular software is running. In one or more embodiments, information in the primary memory is wiped and / or removed after the computing device is turned off and / or use of the software is terminated. In one or more embodiments, the primary memory may be referred to as “volatile memory,” which only retains information while the data is being used and / or processed. In one or more embodiments, volatile memory may lose information after a loss of power. “Secondary memory,” also known as “storage,” “hard disk drive,” etc. for purposes of this disclosure, is a long-term storage device on which the operating system and other information are stored. In one or more embodiments, information may be retrieved from the secondary memory and sent to the primary memory during use. In one or more embodiments, the secondary memory may be referred to as a non-volatile memory in which information is preserved even during a power loss. In one or more embodiments, the data in the secondary memory is not accessible by the processor. In one or more embodiments, the data is transferred from the secondary memory to the primary memory, and the processor 104 may access the information from the primary memory.

[0012] With further reference to FIG. 1 , device 100 may include a database. The database may include a remote database. The database may be implemented as, but is not limited to, a relational database, a key-value lookup database such as a NOSQL database, or any other format or structure for use as a database that one of ordinary skill in the art would recognize as appropriate upon reviewing this disclosure in its entirety. The database may alternatively or additionally be implemented using a distributed data storage protocol and / or data structure, such as a distributed hash table. The database may include multiple data entries and / or records, as described above. Data entries in a database may be flagged or linked to one or more additional information elements, which may be reflected in data entry (item) cells and / or in linked tables, such as tables related by one or more indexes in a relational database. One of ordinary skill in the art will recognize, upon reviewing this disclosure in its entirety, various ways in which data entries in a database may store, search, organize, and / or reflect data and / or records.

[0013] With continued reference to FIG. 1 , the apparatus 100 may include and / or be communicatively connected to a server, such as, but not limited to, a remote server, a cloud server, a network server, etc. In one or more embodiments, the computing device may be configured to transmit one or more processes to be executed by the server. In one or more embodiments, the server may include additional and / or increased processor processing power, and one or more processes described below may be executed by the server. For example, but not limited to, one or more processes related to machine learning may be executed by the network server, with data sent to the server, processed, and sent back to the computing device. In one or more embodiments, the server may be configured to execute one or more processes described below to enable increased computational power and / or reduced power usage by the apparatus computing device. In one or more embodiments, the computing device may transmit the processes to the server, and the computing device may conserve power or energy.

[0014] With further reference to FIG. 1 , apparatus 100 may include any “computing device” described herein, including, but not limited to, a microcontroller, a microprocessor, a digital signal processor (DSP), and / or a system-on-chip (SoC) described herein. Apparatus 100 may include, be included in, and / or communicate with a mobile device, such as a mobile phone or smartphone. Apparatus 100 may include a single computing device operating independently, or may include two or more computing devices operating cooperatively, in parallel, sequentially, etc., where the two or more computing devices may both be included in a single computing device or may be included in two or more computing devices. Apparatus 100 may interface or communicate with one or more additional devices via a network interface device, as described in more detail below. A network interface device may be utilized to connect processor 104 to one or more of various networks and one or more devices. Examples of network interface devices include, but are not limited to, a network interface card (e.g., a mobile network interface card, a LAN card), a modem, and any combination thereof. Examples of networks include, but are not limited to, wide area networks (e.g., the Internet, enterprise networks), local area networks (e.g., networks associated with an office, building, campus, or other relatively small geographic space), telephone networks, data networks associated with a telephone / voice provider (e.g., a mobile communications provider's data and / or voice network), a direct connection between two computing devices, and any combination thereof. Networks can employ wired and / or wireless communication modes. In general, any network topology can be used. Information (e.g., data, software, etc.) can be communicated to and / or from computers and / or computing devices.Processor 104 may include, for example, but not limited to, a computing device or cluster of computing devices at a first location and a second computing device or cluster of computing devices at a second location. Apparatus 100 may include one or more computing devices specialized for data storage, security, traffic distribution for load balancing, etc. Apparatus 100 may distribute one or more computing tasks, as described below, across multiple computing devices that may operate in parallel, serially, redundantly, or any other manner used to distribute tasks or memory among computing devices. Apparatus 100 may be implemented using a “shared-nothing” architecture, as a non-limiting example.

[0015] Continuing to refer to FIG. 1 , processor 104 may be designed and / or configured to repeatedly execute any method, method step, or sequence of method steps in any embodiment described herein, in any order, and to any degree. For example, processor 104 may be configured to repeatedly execute a single step or sequence until a desired or commanded result is achieved. The repetition of a step or sequence of steps may be performed iteratively and / or recursively using the output of a previous iteration as input for a subsequent iteration, aggregating the input and / or output of an iteration to generate an aggregate result, decreasing or decrementing one or more variables, such as global variables, and / or dividing a large processing task into a set of smaller processing tasks that are addressed iteratively. Processor 104 may execute any step or sequence of steps described herein in parallel, such as performing a step two or more times simultaneously and / or nearly simultaneously, using two or more parallel threads, processor cores, etc., and the division of tasks among parallel threads and / or processes may be performed according to any protocol suitable for dividing tasks among iterations. Those skilled in the art will recognize, upon reviewing this disclosure in its entirety, various ways in which processes, sequences of processes, processing tasks, and / or data may be subdivided, shared, or otherwise processed using iterative, recursive, and / or parallel processing.

[0016] With further reference to FIG. 1 , the processor 104 receives a calibration procedure 112, which is generated using a plurality of waypoints 116. As used in this disclosure, a “calibration procedure” is a systematic series of commands designed to set or adjust the accuracy of a device’s performance parameters to ensure the accuracy and consistency of the device’s operation. In some embodiments, a calibration procedure may include one or more waypoints, such as, by way of non-limiting example, a pick waypoint and a place waypoint. In a non-limiting example, a calibration procedure may include comparing the device’s output to a known standard or set of standards and making any necessary adjustments to align the device’s output with the established waypoints. As used in this disclosure, a “waypoint” is a reference point in physical space used for navigation purposes. In a non-limiting example, waypoints 116 may be used sequentially to outline a predetermined course or to mark locations of interest. In another non-limiting example, generating waypoints 116 may include recording the three-dimensional position (i.e., Px, Py, Pz coordinates) and orientation (i.e., Rx, Ry, Rz coordinates) of the effector 152 of the robotic arm 120 as the robotic arm 120 moves through space. For example, without limitation, the processor 104 may receive a calibration procedure 112 generated using multiple waypoints 116, each waypoint marking a specific reference point in physical space. In a non-limiting example, the calibration procedure 112 may include the robotic arm 120 recording the three-dimensional position and orientation at each waypoint of the multiple waypoints 116, allowing the processor 104 to adjust the arm's movement for precise and consistent operation.

[0017] 1 , the processor 104 controls at least the robotic arm 120 as a function of the calibration procedure 112, which is configured to cause the robotic arm 120 to pick a slide using a pick waypoint 124 of the plurality of waypoints 116 and place a slide using a place waypoint 128 of the plurality of waypoints. As used in this disclosure, a "robotic arm" is a programmable mechanical device designed to perform tasks that mimic the movements of a human arm. Without limitation, a robotic arm can be composed of a series of segments connected by joints and can be actuated to move in various directions and at different speeds. In a non-limiting example, the robotic arm 120 can be used in industrial applications to perform repetitive or dangerous tasks with high precision and reliability. Additional embodiments related to the robotic arm may be the same as or similar to the apparatus described in U.S. patent application Ser. No. 18 / 382,386, entitled "APPARATUS AND METHOD OF USE OF A MECHANISM THAT CONVERTS ROTARY MOTION INTO LINEAR MOTION," filed October 20, 2023, with attorney docket number 1519-109USU1, which is incorporated herein by reference in its entirety. As used in this disclosure, a "pick waypoint" is a specific type of waypoint that indicates a location where a robotic arm 120 or similar device is intended to perform a pick operation. As used in this disclosure, a "pick operation" is an action performed by a robotic arm or similar device to grasp, secure, or otherwise retrieve an object from a specified location. Without limitation, this operation may include the use of an effector, such as a gripper, to physically interact with the object, ensuring that the object is securely held and can be moved or manipulated as needed. In a non-limiting example, a pick operation may include grasping or otherwise securing an object or a portion thereof. In a non-limiting example, a pick waypoint is used to guide the device to the exact location where the pick operation is to be performed.As used herein, a "place waypoint" is a specific type of waypoint that indicates where a robotic arm 120 or similar device is intended to perform a place operation. Without limitation, a place operation may include placing or releasing a previously grasped or secured object or portion thereof. In a non-limiting example, a place waypoint 128 can be used to guide a device to a precise location where a place operation is to be performed, ensuring that the object is accurately positioned according to the desired outcome of the task. As used herein, a "slide" is a thin, flat piece of glass used to hold an object to be examined under a microscope. In a non-limiting example, a slide 132 serves as a stable platform on which a sample can be placed, spread, and observed. In a non-limiting example, a slide 132 may be used to place a biological specimen in a fixed location for staining and microscopic analysis. In a non-limiting example, the processor 104 can control at least the robotic arm 120 as a function of a calibration procedure 112, which is configured to cause the robotic arm 120 to pick a slide using a pick waypoint from among multiple waypoints. Subsequently, without limitation, the robotic arm 120 can place the slide 132 at a specified location using placeway points to ensure precise and accurate handling throughout the process.

[0018] 1 , the processor 104 receives a plurality of feedbacks 136 from at least the robotic arm 120. As used in this disclosure, for purposes of the calibration procedure and its components, “feedback” is data or information sent from the robotic arm 120 back to the processor 104. In a non-limiting example, the feedback 136 may consist of various signals or responses generated by the robotic arm 120 as it performs a task. In a non-limiting example, the signals or responses may be received and processed by the processor 104 to monitor, control, or adjust the actions of the robotic arm. Without limitation, the feedback 136 may be essential to ensuring that the robotic arm 120 operates correctly, adapts to changing conditions, or is able to perform precise movements.

[0019] Continuing with reference to FIG. 1 , the plurality of feedbacks 136 may include visual data 140 and tactile data 144. As used herein, “visual data” refers to any information that is visually represented. In a non-limiting example, the visual data 140 may include images, symbols, text, graphs, and animations. Without limitation, the visual data may be used to convey information, represent data, or support a decision-making process. In a non-limiting example, an optical device may provide visual data to the apparatus 100, as described in more detail below. As used herein, “tactile data” refers to information that can be perceived through touch. In a non-limiting example, the tactile data 144 may include texture, vibration, temperature change, and pressure difference. Without limitation, the tactile data 144 may be used to convey information, represent data, or support a decision-making process through tactile feedback. In a non-limiting example, the tactile data 144 may include texture, such as the difference between smooth and rough surfaces, which can be detected by the robotic arm 120 to distinguish between different materials. Additionally, tactile data 144 may include vibration, allowing the robotic arm 120 to sense and respond to various levels of vibration when interacting with machinery. Temperature changes may also serve as tactile data, allowing the robotic arm 120 to perceive changes in heat or cold to determine environmental conditions or object properties. Additionally, tactile data 144 may include pressure differences, allowing the robotic system to measure the amount of force applied during a task, ensuring accuracy and safety.

[0020] Continuing with reference to FIG. 1 , visual data 140 can be generated using macroscopic image analysis of optical device 148, which may include capturing an image using optical device 148, processing the image using an image processor, and generating visual data 140. As used herein, a “macroscopic image” is an image of an element taken at a close distance, often larger than life-size, to extract detailed information. Without limitation, macroscopic images can be used to inspect details and subtle variations invisible to the naked eye. Without limitation, macroscopic images can be taken using an optical device to provide high-resolution visual data of a slide, enabling precise analysis and adjustment during the handling and placement process. As used herein, “macroscopic image analysis” is the examination and processing of an image of an object taken at a close distance, often larger than life-size, to extract detailed information. Without limitation, macroscopic image analysis can include techniques that may include pattern recognition, object detection, and measuring features within an image. Without limitation, macroscopic image analysis can be used in applications where details and subtle variations are critical, such as quality control, materials science, and biological research. Without limitation, macroscopic image analysis may be used in medical imaging to probe tissue samples at a cellular level, potentially aiding in the early diagnosis of disease. As used herein, an "optical device" is an instrument designed to manipulate, manage, or analyze light. In a non-limiting example, optical device 148 may include components such as lenses, mirrors, filters, gratings, or detectors and is used for applications ranging from vision correction to analyzing light properties. In a non-limiting example, optical device 148 may be one or more scanning devices. In a non-limiting example, processor 104 may receive scanned images and / or feedback 136 directly from optical device 148 that has scanned a microscope slide. In some cases, optical device 148 may include a device or system used to digitize slides containing biomedical specimens (e.g., tissue samples). As a non-limiting example, optical device 148 may include a digital camera, a digital microscope, a digital pathology scanner, etc.In some cases, the processor 104 may select parameters associated with the optical device 148, such as, but not limited to, magnification level, focus setting, scan pattern, etc. Additional disclosure regarding optical devices and slide digitization processes may be found in U.S. Patent Application No. 63 / 466,950, filed May 16, 2023, entitled "SYSTEMS AND METHODS FOR INLINE QUALITY CONTROL OF SLIDE DIGITIZATION," having attorney docket number 1519-029USP1, which is incorporated herein by reference in its entirety. Additional disclosure regarding optical devices and slide digitization processes may be found in U.S. patent application Ser. No. 18 / 602,947, filed March 12, 2024, entitled "SYSTEMS AND METHODS FOR INLINE QUALITY CONTROL OF SLIDE DIGITIZATION," having attorney docket number 1519-029USU1, which is incorporated herein by reference in its entirety. In some embodiments, processor 104 may be configured to control the operation of optical device 148 to automate the digitization process of slide 132. For example, but not limited to, processor 104 may send instructions to optical device 148 to scan or rescan a selected portion of a slide (e.g., an area identified by x, y, and / or z coordinates or a bounding box).

[0021] Continuing to refer to FIG. 1 , an “image processor,” as used in this disclosure, is a device or set of computational methods that perform operations on an image or image sequence. These operations may include tasks such as image enhancement, filtering, analysis, feature extraction, pattern recognition, and image compression. Image processors are designed to handle the complex data structures associated with digital images and may operate in real-time or batch processing modes. For example, in digital camera systems, image processors may adjust color balance and reduce noise in captured photographs. In medical imaging systems, image processors may be used to enhance the contrast of MRI scans to aid in diagnosis.

[0022] Continuing with reference to FIG. 1 , haptic data 144 can be generated using the robotic arm 120 and at least an effector. As used in this disclosure, an “effector” is a component or assembly within a system that has the ability to perform an action or produce an effect in response to a control signal or command, often resulting in a change in the system's physical state or its environment. In a non-limiting example, effector 152 can be mechanical, electrical, or a combination thereof, and typically is part of a larger system that performs a specific function upon receiving a command or input. For example, in a robotic system, effector 152 can be a gripper that manipulates an object based on input from the robot's control system. In a non-limiting example, the robotic arm 120 can manipulate a slide 132 using effector 152, which can capture and send haptic feedback to the processor 104, allowing for adjustments in gripping and movement to ensure precise handling.

[0023] With continued reference to FIG. 1 , an actuator may include a machine component that functions to move and / or control a mechanism or system. An actuator may, in some cases, require a control signal and / or an energy or power source. In some cases, the control signal may be relatively low energy. Exemplary forms of the control signal include electrical potential or current, air pressure or flow, or hydraulic fluid pressure or flow, mechanical force / torque or velocity, or even human power. In some cases, an actuator may have an energy or power source other than the control signal. This may include a primary energy source, which may include, for example, electrical power, hydraulic pressure, pneumatic pressure, mechanical power, etc. In some cases, upon receiving a control signal, the actuator responds by converting the source power into mechanical motion. In some cases, an actuator may be understood as a form of automation or automatic control.

[0024] Continuing with reference to FIG. 1 , in some embodiments, the actuator may include a hydraulic actuator. A hydraulic actuator may be comprised of a cylinder or fluid motor that uses hydraulic force to facilitate mechanical movement. The output of a hydraulic actuator may include mechanical movement, such as, but not limited to, linear, rotary, or oscillatory movement. In some cases, a hydraulic actuator may employ a hydraulic fluid. Because liquids are potentially incompressible, hydraulic actuators may exert large forces. Furthermore, because force is equal to pressure multiplied by area, a hydraulic actuator may function as a force transducer with changes in area (e.g., the cross-sectional area of ​​the cylinder and / or piston). An exemplary hydraulic cylinder may be comprised of a hollow cylindrical tube through which a piston can slide. In some cases, a hydraulic cylinder may be considered single-acting. The term "single-acting" may be used when fluid pressure is applied substantially only to one side of the piston. Thus, a single-acting piston can move in only one direction. In some cases, a spring may be used to provide a return stroke for the single-acting piston. In some cases, a hydraulic cylinder may be double-acting. "Double acting" can be used when pressure is applied substantially to both sides of the piston, and the force difference between the two sides of the piston causes the piston to move.

[0025] Continuing with reference to FIG. 1 , in some embodiments, the actuator may include a pneumatic actuator. In some cases, pneumatic actuators may be able to generate significant force from relatively small changes in gas pressure. In some cases, pneumatic actuators may respond more quickly than other types of actuators, such as hydraulic actuators. Pneumatic actuators may use compressible fluids (e.g., air). In some cases, pneumatic actuators may operate with compressed air. Operation of hydraulic and / or pneumatic actuators may include control of one or more valves, circuits, fluid pumps, and / or fluid manifolds.

[0026] Continuing with reference to FIG. 1 , in some cases, the actuator may include an electric actuator. The electric actuator may include either an electromechanical actuator, a linear motor, or the like. In some cases, the actuator may include an electromechanical actuator. An electromechanical actuator can convert the rotational force of an electric rotary motor into linear motion and generate linear motion through a mechanism. Exemplary mechanisms include, but are not limited to, a rotary-to-translational converter, such as a belt, a screw, a crank, a cam, a linkage, or a scotch yoke. In some cases, control of the electromechanical actuator may include control of an electric motor. For example, a control signal may control one or more electric motor parameters to control the electromechanical actuator. Exemplary, non-limiting electric motor parameters include rotational position, input torque, speed, current, and potential. The electric actuator may include a linear motor. A linear motor may differ from an electromechanical actuator in that power from a linear motor is output directly as translational motion rather than being output as rotational motion and converted to translational motion. In some cases, a linear motor may cause lower friction losses than other devices. Linear motors can be classified into at least three different categories, such as flat linear motors, U-channel linear motors, and tubular linear motors. Linear motors can be directly controlled by control signals that control one or more linear motor parameters. Exemplary linear motor parameters include, but are not limited to, position, force, velocity, potential, and current.

[0027] Continuing with reference to FIG. 1 , in some embodiments, the actuator may include a mechanical actuator. In some cases, the mechanical actuator may function to perform movement by converting one type of movement, such as rotational movement, into another type of movement, such as linear movement. An exemplary mechanical actuator includes a rack and pinion. In some cases, a mechanical power source, such as a power take-off, may serve as a power source for the mechanical actuator. The mechanical actuator may employ any number of mechanisms, including, for example, but not limited to, gears, rails, pulleys, cables, linkages, etc.

[0028] With continued reference to FIG. 1 , at least effector 152 includes a gripper. As used in this disclosure, a "gripper" is a type of effector specifically designed to grasp, hold, or manipulate an object, typically by mechanical means. Without limitation, a gripper may consist of a set of jaws or fingers that can open and close around an object and is commonly used in robotic applications to perform tasks such as picking and placing items, assembly operations, or handling tools. For example, without limitation, a gripper may be employed to handle delicate specimens on slides or to operate scientific equipment.

[0029] Continuing with reference to FIG. 1 , the processor 104 uses the plurality of feedbacks 136 to generate adapted placewaypoints 156. As used in this disclosure, an "adapted placewaypoint" is a precise waypoint location where a slide is placed for analysis or observation. In a non-limiting example, the adapted placewaypoints 156 are specifically designed to accommodate optimized slide attitudes and dimensions, ensuring that the slides 132 are properly oriented and positioned for the intended imaging or observation task. In a non-limiting example, the adapted placewaypoints 156 are configured to interact with the slide holder and imaging system to facilitate precise placement and alignment of the glass slide. For example, but not by way of limitation, the adapted placewaypoints 156 may include marked areas on a slide holder that indicate the precise location where a standard-sized slide is placed.

[0030] 1 , generating the adapted placewaypoint 156 may include using visual data 140 and a torque sensor to determine the slide attitude and slide tilt angle, using the slide tilt angle to modify the placewaypoint to align the slide edge (e.g., slide edge 608 a) parallel to the basket slot edge (e.g., basket slot edge 612 a), and using tactile data 144 to modify the placewaypoint to align the center of the slide 132 with the center of the basket slot. As used in this disclosure, a “torque sensor” is a device that measures and records the torque of a rotating system, such as an engine, crankshaft, gearbox, transmission, rotor, or cap. In a non-limiting example, a torque sensor may be used to ensure accuracy in torque application to prevent over-tightening or under-tightening, which could lead to mechanical failure or product malfunction. For example, but not by way of limitation, in the context of a slide 132 handling operation using the robotic arm 120, a torque sensor may be integrated to monitor and control the torque applied by the robotic arm 120 when manipulating a basket of slides 132 to prevent damage to the slides 132. Furthermore, but not by way of limitation, a torque sensor may be used to ensure that the effector 152 applies a consistent and appropriate amount of force when picking up or placing slides, thereby increasing the precision of the robotic arm 120's movements. In a non-limiting example, feedback 136 from a torque sensor may be used to optimize the motion path of the robotic arm 120 while adjusting its position to accommodate macroscopic imaging analysis, ensuring that the slides 132 are handled delicately and accurately. As used herein, a "slide attitude" refers to a particular orientation or positioning of a slide relative to a reference system or device. In a non-limiting example, the reference system or device may include an imaging system or observation device. For example, but not by way of limitation, the reference system may include an optical device 148. In a non-limiting example, the orientation of slide 132 is intended to optimize the visibility and clarity of the specimens on slide 132 during viewing or analysis.In a non-limiting example, the orientation of the slide 132 may include a particular angle, position, or alignment that enhances the interaction between the light source, the glass slide, and the lens or sensor of the imaging system. For example, in one embodiment, the orientation of the slide 132 may be set at a 45-degree angle relative to the light source to reduce glare and improve image contrast. In another example, the orientation of the slide 132 may include positioning the slide 132 at a particular height or distance from the imaging sensor to achieve a desired focus. Additionally, the orientation of the slide 132 may be adjusted to align with a polarized light source to improve visualization of birefringent materials within the sample.

[0031] With continued reference to FIG. 1 , a “slide tilt angle,” as used in this disclosure, refers to the angular deviation of a glass slide from its intended orientation plane within an imaging system or observation device. In a non-limiting example, the deviation can affect the focus and clarity of the image or observation being made. In a non-limiting example, slide tilt can be a variable that can be adjusted or corrected to ensure that the slide 132 is parallel to the imaging plane, thereby optimizing the quality of the imaging or observation. For example, but not by way of limitation, slide tilt can be corrected by adjusting the slide holder to return the slide 132 to the correct orientation. In another example, the imaging system can include a sensor that detects the tilt of the slide 132 and automatically adjusts the position of the slide 132 or the optics to compensate for the tilt. In a non-limiting example, the adapted placewaypoint 156 can include features that minimize the possibility of slide tilt by ensuring safer and more accurate placement of the slide 132.

[0032] As used in this disclosure, a "basket slot" is a designated compartment within a slide holder of an imaging system or observation device intended to receive and secure a slide. The basket slot is adapted to accommodate the dimensions of the slide and maintain a stable position when the slide 132 is not being imaged using an optical device. In a non-limiting example, the basket slot is configured to ensure that the slide remains in the correct orientation and at the appropriate height. For example, but not by way of limitation, the basket slot may include a spring-loaded mechanism that clamps the slide in place. In another example, the basket slot may have a contoured design that matches the contours of the slide and prevents lateral movement. In a non-limiting example, the basket slot may include a soft lining material that reduces the risk of damage to the slide when inserting or removing the slide 132 from the holder.

[0033] Continuing with reference to FIG. 1 , the processor 104 can be further configured to control the robotic arm 120 according to a placement sequence, which can include using the vision data 140 to determine slide dimensions 164 and slide pose 168 of the slide 132, using the slide pose 168 to generate an adapted placeway point 156, and using the slide dimensions 164 to generate the adapted placeway point 156. As used herein, a “placement sequence” refers to the specific order in which a series of elements are placed or actions are performed within a process or system. In a non-limiting example, a placement sequence can include the intentional placement, positioning, or timing of each element or action designed to achieve a desired result or adhere to a specific protocol. As used herein, “slide dimensions” refers to one or more measurements of the length, width, and thickness of a glass slide used with an imaging system or observation device. Without limitation, the dimensions can be selected to fit within a slide holder of an imaging system and to be sized appropriately for handling and manipulation during specimen preparation and observation. In a non-limiting example, slide dimensions 164 may be standardized to ensure compatibility with various imaging systems and facilitate exchange of slides between different laboratories and researchers. For example, without limitation, typical slide dimensions may be approximately 75 mm in length, 25 mm in width, and 1 mm in thickness. In another non-limiting example, slide dimensions 164 may be smaller for specialized imaging systems, such as 48 mm x 28 mm and 0.8 mm in thickness. In another non-limiting example, slides may have larger dimensions, such as 100 mm x 50 mm and 1.2 mm in thickness, for applications requiring a larger viewing area.

[0034] 1 , the processor 104 uses the plurality of feedbacks 136 to generate an adapted pick waypoint 160. As used in this disclosure, an "adapted pick waypoint" is a precise location customized or configured for a specific purpose to guide a picking mechanism or object to a location where an item is to be picked. In a non-limiting example, the adapted pick waypoint 160 may include a waypoint that is adjusted or adapted based on factors such as the type of item, the environment in which the picking occurs, or the capabilities of the picking mechanism.

[0035] Continuing with reference to FIG. 1 , generating adapted pick waypoints 160 may include interpolating slide Z-values ​​as a function of the position of slide 132 relative to the slide basket corners using calibrated Z-values ​​172 corresponding to each corner of the slide basket, and correcting the pick waypoints using interpolated slide Z-values ​​176. As used in this disclosure, a "calibrated Z-value" is a measurement or data point that has been adjusted to account for discrepancies or variations in the Z-axis. In a non-limiting example, the vertical axis of a three-dimensional coordinate system may represent the Z-axis. In a non-limiting example, calibration may ensure that Z-values ​​accurately represent intended heights or depths relative to a reference plane or reference datum. For example, but not by way of limitation, in 3D printing applications, calibrated Z-values ​​ensure that each layer of material is deposited at the correct height.

[0036] With continued reference to FIG. 1 , a “slide basket,” as used in this disclosure, is a container or holder designed to organize, store, and transport multiple glass slides in a safe and accessible manner. In a non-limiting example, a slide basket can be used in a laboratory environment, where slides are the primary medium for specimen preparation and microscopy. In a non-limiting example, a slide basket can be constructed from a material that is resistant to chemicals and easy to clean, such as stainless steel or plastic. For example, but not by way of limitation, in a medical laboratory, a slide basket can be used to hold slides during the staining process, ensuring they are not contaminated or mixed. In a non-limiting example, a slide basket can be used to transport slides from one workstation to another without risk of slide damage.

[0037] Continuing with reference to FIG. 1 , as used in this disclosure, an “interpolated slide Z value” refers to a calculated depth coordinate in three-dimensional space corresponding to the position of the slide 132 after interpolation has been performed to estimate the position of the slide 132 between two known reference points along the Z axis, which is typically perpendicular to the plane of the slide. In a non-limiting example, the interpolated slide Z value 176 may be used to determine a precise focus level for imaging or analyzing a specimen on the slide 132. For example, but not limited to, in a digital microscope system, the interpolated slide Z value 176 may be used to automatically adjust the focus of the microscope to obtain a clear image of the sample. In another example, but not limited to, the interpolated slide Z value 176 may be employed in a slide scanning device to maintain a consistent focus while the slide 132 is moving under the objective lens. Furthermore, in automated histopathology analysis, the interpolated slide Z value 176 may be used to ensure that analysis of tissue sections is performed at the correct depth of focus, enhancing diagnostic accuracy.

[0038] Continuing with reference to FIG. 1 , generating the adapted pick waypoint 160 may further include using the tactile data 144 and the calibration procedure 112 to identify the position of the slide 132 within the slide basket and modifying the pick waypoint using the slide position. As used in this disclosure, "slide position" refers to a specific location of a slide in three-dimensional space. In a non-limiting example, the slide position may be determined by its coordinates along the X, Y, and Z axes. In a non-limiting example, the slide position may be used to track and control the position of a glass slide during inspection and analysis. For example, but not by way of limitation, in a digital microscope system, the slide position is used to navigate to different areas of a specimen for imaging. In a non-limiting example, in a slide scanning device, the slide position is monitored to ensure that the slide 132 moves accurately under the objective lens for systematic scanning. In a non-limiting example, an automated histopathology analysis may use the slide position to accurately identify areas of interest on a tissue section for detailed analysis and diagnosis.

[0039] Continuing with reference to FIG. 1 , the robotic arm 120 may be configured to receive a partially open state, use at least an effector to execute the partially open state, adjust the slide 132 using a pusher mechanism, receive an open state, and use at least an effector to execute the open state. As used in this disclosure, the "partially open state" refers to a state of the robotic arm 120 in which the effector 152 is not fully open or fully closed, allowing for controlled interaction with an object. In a non-limiting example, the partially open state can be used to grasp or manipulate an object without applying full force, which may be useful in situations where delicate handling is paramount. For example, but not limited to, the effector 152 of the robotic arm 120 in a partially open state can be used to gently grasp a fragile component without causing damage. In a non-limiting example, the partially open state can be employed to precisely handle sensitive biological samples.

[0040] With continued reference to FIG. 1 , a “pusher mechanism,” as used in this disclosure, refers to a component or assembly within the robotic arm 120 designed to apply a pushing force to an object to move the object from one location to another. As used in this disclosure, a “pushing force” refers to a force applied by a component or mechanism to move an object from one position to another by applying pressure in a specific direction. In a non-limiting example, a pusher mechanism can be used to manipulate an object in a controlled manner to ensure precise placement or removal in a process. For example, but not by way of limitation, a pusher mechanism can be used to move a slide 132 from one position to another.

[0041] Continuing to refer to FIG. 1 , the "open state" as used in this disclosure refers to the state of the effector 152 of the robotic arm 120 in which the effector 152 is fully extended or released, allowing the maximum possible space between grasping or interacting surfaces. In a non-limiting example, the open state may be used when the robotic arm 120 is not engaged with an object or is about to initiate an interaction, such as picking up an object. For example, but not by way of limitation, the robotic arm 120 effector 152 in the open state may be positioned to receive a slide. In another non-limiting example, the open state may be used to release a previously held slide.

[0042] Exemplary embodiments are disclosed above and illustrated in the accompanying drawings. Those skilled in the art will appreciate that various modifications, omissions, and additions may be made to what is specifically disclosed herein without departing from the spirit and scope of the invention.

[0043] Referring now to FIG. 2 , an exemplary embodiment of a slide handling operation using a robotic arm 200 is shown. In one embodiment, a slide basket 204 is designed to securely hold multiple slides 208. In one embodiment, the slides 208 are picked up in their first position by the robotic arm 212 utilizing an effector 216 specially designed for precise and gentle handling. In one embodiment, the effector 216 ensures that the slides 208 are securely grasped without causing any damage. In one embodiment, the robotic arm 212 moves to a second position 220. In one embodiment, the robotic arm 212 adjusts its position and orientation to align the slides 208 with a macro imaging analysis 224 system. In one embodiment, alignment can be important to ensure that the slides 208 are accurately positioned for subsequent analysis.

[0044] Without continuing reference to FIG. 2 , during the translation and positioning process, optical device 228 can provide real-time feedback to the robotic arm. In one embodiment, the feedback can provide information useful for monitoring the accurate handling of each slide 208 as it moves to various positions on XY stage 232. In one embodiment, optical device 228 can ensure that robotic arm 212 precisely coordinates its movements to maintain the correct alignment and orientation of the slides. In one embodiment, this level of precision is necessary to avoid potential errors or misalignments that could affect the quality of the imaging analysis. In one embodiment, the feedback system allows for continuous monitoring and adjustment, increasing the overall reliability of the operation.

[0045] Without continuing to refer to FIG. 2 , the setup is supported by a robust scanner 236, which can provide stability and precision during the Z-plane adaptation process. In one embodiment, slide handling operations can include fine adjustments to the vertical positioning of the slide to ensure that the slide is in optimal focus for imaging. In one embodiment, scanner stability can ensure that there are no vibrations or variations that could interfere with the imaging process. In a non-limiting example, integrating the robotic arm 212, effector 216, optical device 228, and scanner 236 can enable the system to achieve a high level of precision and efficiency in slide handling and analysis. In one embodiment, the integrated approach can improve the reliability of imaging results and improve the overall workflow, making it more efficient and less prone to errors.

[0046] 3A and 3B, which illustrate an exemplary embodiment of Z-plane adaptation during picking, show orthogonal views of the system in which the slide basket is positioned on ramps 300a and 300b during the slide handling process.

[0047] In FIG. 3A , a system with a slide basket positioned on inclined surface 300a may be shown interacting with Z1 position 308a positioned on inclined surface 304a. In one embodiment, slide basket 320a may capture an image for alignment purposes, and Z2 position 312a may point upward and be aligned with slide 316a. In one embodiment, the setup may show how the robotic arm is sensitive to force feedback and will stop motion if the gripper hits a slide to avoid breaking the glass slide. In one embodiment, the surface may be inclined, and the slides in the slide basket may be at different heights (Z levels). In one embodiment, if the gripper's Z level is not adapted to each slide, the gripper may hit the slide and stop motion due to force feedback.

[0048] FIG. 3A shows an example of a slide basket positioned on an inclined surface. In one embodiment, the surface inclination may be static and discovered during the robot arm calibration process. In one embodiment, the robot arm is sensitive to force feedback and may stop motion if the gripper hits a slide to avoid breaking the glass slide. In one embodiment, because the surface is inclined, slides within the slide basket may be at different heights (Z levels). In one embodiment, if the gripper Z level is not adapted to each slide, the gripper may hit the slide and force feedback may stop motion.

[0049] FIG. 3B illustrates system 300b, showing the Z-values ​​of the ramp at the corners of the slide basket after the slide attitude has been corrected. In one embodiment, Z2 position 312b can be precisely aligned with slide 316b, as indicated by Z3 position 324b. In one embodiment, Z1 position 308b can be shown in the background, and Z4 position 328b can be marked to indicate the adjustment process. In one embodiment, slide basket 320b can continue to provide visual feedback to ensure accurate alignment. In one embodiment, the Z-values ​​of each corner of the ramp can be derived using interpolation of the corner Z-values ​​to ensure the gripper Z-level is accurately adapted for each slide. In one embodiment, the process can help maintain precise handling and positioning of slides and avoid operational interruptions.

[0050] 4A and 4B, exemplary embodiments 400a, 400b of slide orientation adjustment before placing the slide on the XY stage are shown. FIG. 4A shows a system diagram of slide orientation adjustment before placing the slide on the XY stage 400a. In one embodiment, imaging of a slide 408a having a tissue sample 412a using a macro camera 404 is shown. In one embodiment, the slide 408a can be held by a gripper 416a in a closed state for placement on the XY stage for scanning. In one embodiment, the gripper 416a in a closed state can securely hold the slide 408a. In one embodiment, the slide 408a can be aligned with a slot such that the slide 408a can be securely locked by a pusher mechanism during scanning.

[0051] 4B shows a macro image of the slide held by the gripper over the slot after slide orientation adaptation 400b. FIG. 4B shows the corrected orientation of slide 404b based on macro image analysis of slide 404b. In one embodiment, the orientation is corrected using movement of gripper 416a, but the positions of slide 404b and the slot can be aligned by moving either gripper 416a or XY stage 420a.

[0052] 5A-5F, exemplary embodiments 500a-500f of a procedure for handling slides that may be attached to gripper jaws are shown. In FIG. 5A, XY stage 504a receives slide 512a using gripper 508a. In one embodiment, gripper 508a is in a closed state and holds slide 512a. As used in this disclosure, a "closed state" refers to a state or arrangement in which device components are positioned to securely hold or secure an object in place and prevent the object from moving or releasing. For example, but not by way of limitation, a closed state refers to a state in which gripper jaws are close together to firmly grasp and hold slide 512a during transport. In FIG. 5B, XY stage 504a receives slide 512b using gripper 508b. In one embodiment, gripper 508b is in an open state and holds slide 512b. In FIG. 5C, XY stage 504c receives slide 512c using gripper 508c. In one embodiment, gripper 508c is in an open state and is holding slide 512a, which is sticky and not placed on scanner XY stage 504c as intended, remaining attached to gripper 508c.

[0053] 5D-5E illustrate methods 500d-500f for handling sticky slides on an XY stage. In one embodiment, FIG. 5D shows gripper 508d in a partially open state, allowing movement of slide 512d. FIG. 5E shows slide 512e being pushed out of gripper 508e in a partially open state onto XY stage 504e using pressure mechanism 516e. FIG. 5F shows the final step in which gripper 508f is in an open state and pressure mechanism 516f completes the action of moving slide 512f onto XY stage 504f.

[0054] Referring now to FIGS. 6A-6E, exemplary embodiments 600a-600e of slide orientation adjustment before placement in the slide basket are shown. FIG. 6A shows a macro image 600a of a slide after scanning is completed. In one embodiment, the slide is picked up from the XY stage and held by the gripper at an angle, referred to as slide tilt angle 604a, where the slide edge 608a is not parallel to the basket slot edge 612a. FIG. 6B shows slide 612b being placed back into slide basket 616b using grippers 608b, 600b. In one embodiment, due to tilt angle 604b, slide 612b is not parallel to the wall of slide basket 616b. FIG. 6C shows slide orientation adjustment using the tilt angle to bring slide 608c into the correct orientation, with the edge of slide 608c aligned parallel to the slot edge of slide basket 612c. In one embodiment, this illustrates a situation where the position of slide basket 612c is not centered in the slot, and slide 608c may hit slide basket 612c during placement into slide basket 612c. Figure 6D illustrates tactile feedback collected from a torque sensor, which is used to determine which edge 612d (left or right) of slide 608d contacts slide basket 616d and adjust its position to center slide 608d within the slot. Figure 6E illustrates the final step of placing slide 608e into slide basket 620e after adjusting the orientation and position of slide 608e to fit slide basket 620e. In one embodiment, gripper 604e may adjust the position of slide 608e as indicated by indicator arrow 612e.

[0055] Referring now to Figure 7, there is shown a flow diagram of an exemplary method 700 for adaptive handling of slides. In step 705, the method 700 includes receiving, using at least a processor, a calibration procedure, the calibration procedure being generated using a plurality of waypoints. This may be performed as described with reference to Figures 1-6.

[0056] 7, at step 710, the method 700 includes controlling at least the robotic arm as a function of a calibration procedure configured to cause the robotic arm to pick a slide using a pick waypoint of the plurality of waypoints and to place a slide using a place waypoint of the plurality of waypoints, which may be performed as described with reference to FIGS.

[0057] 7, at step 715, method 700 includes receiving, using at least a processor, a plurality of feedbacks from at least the robotic arm. Without limitation, the plurality of feedbacks may include visual data and tactile data. In a non-limiting example, the visual data may be generated using macro image analysis of at least an optical device. Without limitation, the tactile data may be generated using the robotic arm and at least an effector. This may be performed as described with reference to FIGS. 1-6.

[0058] Continuing with reference to FIG. 7 , at step 720, method 700 includes generating an adapted pick waypoint using the plurality of feedbacks. Without limitation, generating the adapted pick waypoint may include using calibrated Z values ​​corresponding to each slide basket angle to interpolate slide Z values ​​according to the position of the slide relative to the slide basket angle, and modifying the pick waypoint using the interpolated slide Z values. In a non-limiting example, generating the adapted pick waypoint may further include using tactile data and a calibration procedure to identify the slide position within the slide basket, and modifying the pick waypoint using the slide position. This may be performed as described with reference to FIGS. 1-6 .

[0059] 7, at step 725, method 700 includes generating adapted placeway points using multiple feedbacks. Generating adapted placeway points may include, without limitation, using visual data and torque sensors to determine slide attitude and slide tilt angle, using the slide tilt angle to modify placeway points to align the slide edge parallel to the basket slot edge, and using tactile data to modify placeway points to align the slide center with the basket slot center. This may be performed as described with reference to FIGS. 1-6.

[0060] It should be noted that any one or more of the aspects and embodiments described herein may be suitably implemented using one or more machines programmed in accordance with the teachings herein (e.g., one or more computing devices utilized as user computing devices for electronic documents, one or more server devices such as document servers, etc.) as would be apparent to those skilled in the computer arts. Appropriate software coding may be readily produced by skilled programmers based on the teachings of the present disclosure, as would be apparent to those skilled in the software arts. The above-described aspects and implementations employing software and / or software modules may also include appropriate hardware to assist in implementing the machine-executable instructions of the software and / or software modules.

[0061] Such software may be a computer program product employing a machine-readable storage medium. A machine-readable storage medium may be any medium capable of storing and / or encoding a sequence of instructions for execution by a machine (e.g., a computing device) and causing the machine to perform any one of the methodologies and / or embodiments described herein. Examples of machine-readable storage media include, but are not limited to, magnetic disks, optical disks (e.g., CDs, CD-Rs, DVDs, DVD-Rs, etc.), magneto-optical disks, read-only memory "ROM" devices, random-access memory "RAM" devices, magnetic cards, optical cards, solid-state memory devices, EPROMs, EEPROMs, and any combination thereof. As used herein, machine-readable medium is intended to include not only a single medium but also a collection of physically separate media, such as, for example, a collection of compact discs, one or more hard disk drives in combination with computer memory, etc. As used herein, machine-readable storage medium does not include a transitory form of signal transmission.

[0062] Such software may also include information (e.g., data) carried in a data signal on a data carrier such as a carrier wave. For example, the machine-executable information may be included in a data carrier signal embodied in a data carrier, the signal encoding a sequence of instructions, or portions thereof, for execution by a machine (e.g., a computing device), and any associated information (e.g., data structures and data) that cause the machine to perform any one of the methodologies and / or embodiments described herein.

[0063] Examples of computing devices include, but are not limited to, e-book reading devices, computer workstations, terminal computers, server computers, handheld devices (e.g., tablet computers, smartphones, etc.), web appliances, network routers, network switches, network bridges, any machine capable of executing a sequence of instructions that specify actions to be performed by that machine, and any combination thereof. In one example, a computing device may include and / or be included in a kiosk.

[0064] 8 illustrates a schematic diagram of one embodiment of a computing device in the exemplary form of a computer system 800 upon which a set of instructions may be executed that causes a control system to perform any one or more of the aspects and / or methodologies of the present disclosure. It is also contemplated that multiple computing devices may be utilized to execute a set of instructions specifically configured to cause one or more of the devices to perform any one or more of the aspects and / or methodologies of the present disclosure. Computer system 800 includes a processor 804 and memory 808 that communicate with each other and with other components via a bus 812. Bus 812 may include any of several types of bus structures, including, but not limited to, a memory bus, a memory controller, a peripheral bus, a local bus, and any combination thereof, using any of a variety of bus architectures.

[0065] Processor 804 may include any suitable processor, such as, but not limited to, a processor incorporating logic circuitry for performing arithmetic and logical operations, such as an arithmetic logic unit (ALU), which may be controlled by a state machine and directed by operational input from memory and / or sensors, and processor 804 may be configured according to, by way of non-limiting example, a von Neumann architecture and / or a Harvard architecture. Processor 804 may also include, incorporate, and / or be integrated into, but not limited to, a microcontroller, a microprocessor, a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a graphical processing unit (GPU), a general-purpose GPU, a tensor processing unit (TPU), an analog or mixed signal processor, a trusted platform module (TPM), a floating-point unit (FPU), a system-on-module (SOM), and / or a system-on-chip (SoC).

[0066] Memory 808 may include a variety of components (e.g., machine-readable media), including, but not limited to, random-access memory components, read-only components, and any combination thereof. In one example, a basic input / output system 816 (BIOS), containing the basic routines that help to transfer information between elements within computer system 800, such as during start-up, may be stored in memory 808. Memory 808 may also include instructions (e.g., software) 820 (e.g., stored on one or more machine-readable media) that embody any one or more of the aspects and / or methodologies of the present disclosure. In another example, memory 808 may further include any number of program modules, including, but not limited to, an operating system, one or more application programs, other program modules, program data, and any combination thereof.

[0067] Computer system 800 may also include a storage device(s) 824. Examples of storage devices (e.g., storage device(s) 824) include, but are not limited to, hard disk drives, magnetic disk drives, optical disk drives in combination with optical media, solid-state memory devices, and any combination thereof. Storage device 824 may be connected to bus 812 by an appropriate interface (not shown). Examples of interfaces include, but are not limited to, SCSI, Advanced Technology Attachment (ATA), Serial ATA, Universal Serial Bus (USB), IEEE 1394 (FIREWIRE®), and any combination thereof. In one example, storage device 824 (or one or more components thereof) may be removably interfaced with computer system 800 (e.g., via an external port connector (not shown)). In particular, storage device 824 and associated machine-readable media 828 may provide nonvolatile and / or volatile storage of machine-readable instructions, data structures, program modules, and / or other data for computer system 800. In one example, software 820 may reside, completely or partially, within machine-readable medium 828. In another example, software 820 may reside, completely or partially, within processor 804.

[0068] Computer system 800 may also include input devices 832. In one example, a user of computer system 800 can input commands and / or other information into computer system 800 via input devices 832. Examples of input devices 832 include, but are not limited to, alphanumeric input devices (e.g., keyboards), pointing devices, joysticks, gamepads, audio input devices (e.g., microphones, voice response systems, etc.), cursor control devices (e.g., mice), touchpads, optical scanners, video capture devices (e.g., still cameras, video cameras), touch screens, and any combination thereof. Input devices 832 may interface with bus 812 via any of a variety of interfaces (not shown), including, but not limited to, a serial interface, a parallel interface, a game port, a USB interface, a FIREWIRE® interface, a direct interface to bus 812, and any combination thereof. Input devices 832 may include a touchscreen interface, which may be part of or separate from display 836, described below. The input device 832 may be utilized as a user selection device to select one or more graphical representations in the graphical interface, as described above.

[0069] A user may also input commands and / or other information into computer system 800 via storage device 824 (e.g., a removable disk drive, flash drive, etc.) and / or network interface device 840. A network interface device, such as network interface device 840, may be utilized to connect computer system 800 to one or more of various networks, such as network 844, and one or more remote devices 848 connected thereto. Examples of network interface devices include, but are not limited to, a network interface card (e.g., a mobile network interface card, a LAN card), a modem, and any combination thereof. Examples of networks include, but are not limited to, a wide area network (e.g., the Internet, an enterprise network), a local area network (e.g., a network associated with an office, building, campus, or other relatively small geographic space), a telephone network, a data network associated with a telephone / voice provider (e.g., a mobile communications provider's data and / or voice network), a direct connection between two computing devices, and any combination thereof. A network, such as network 844, may employ wired and / or wireless communication modes. In general, any network topology may be used. Information (eg, data, software 820 , etc.) may be communicated to and / or from computer system 800 via network interface device 840 .

[0070] Computer system 800 may further include a video display adapter 852 that communicates displayable images to a display device, such as display device 836. Examples of display devices include, but are not limited to, a liquid crystal display (LCD), a cathode ray tube (CRT), a plasma display, a light emitting diode (LED) display, and any combination thereof. Display adapter 852 and display device 836 can be utilized in combination with processor 804 to provide graphical representations of aspects of the present disclosure. In addition to a display device, computer system 800 may include one or more other peripheral output devices, including, but not limited to, audio speakers, a printer, and any combination thereof. Such peripheral output devices may be connected to bus 812 via peripheral interface 856. Examples of peripheral interfaces include, but are not limited to, a serial port, a USB connection, a FIREWIRE® connection, a parallel connection, and any combination thereof.

[0071] The foregoing is a detailed description of exemplary embodiments of the present invention. Various modifications and additions may be made without departing from the spirit and scope of the present invention. Features of each of the various embodiments described above may be combined with features of other described embodiments as appropriate to provide various combinations of features in related new embodiments. Moreover, while a number of separate embodiments have been described above, what has been described herein is merely illustrative of the application of the principles of the present invention. Furthermore, while certain methods herein may be illustrated and / or described as being performed in a particular order, such orders may be varied considerably within the skill of ordinary skill in order to achieve a method according to the present disclosure. Accordingly, the present description is intended to be illustrative only, and not to otherwise limit the scope of the present invention.

[0072] Exemplary embodiments are disclosed above and illustrated in the accompanying drawings. Those skilled in the art will appreciate that various modifications, omissions, and additions may be made to what is specifically disclosed herein without departing from the spirit and scope of the invention.

Claims

1. 1. An apparatus for adaptive handling of slides, comprising: at least a robotic arm including at least an effector; at least an optical device; at least a computing device; the computing device, Memory and at least a processor communicatively connected to the memory; Including, The memory is configured to allow the at least one processor to: receiving a calibration procedure generated using a plurality of waypoints; controlling the at least robotic arm in response to the calibration procedure, the calibration procedure causing the robotic arm to pick a slide using a pick waypoint of the plurality of waypoints and place a slide using a place waypoint of the plurality of waypoints; receiving a plurality of feedbacks from the at least robotic arm; generating an adapted pick waypoint using the plurality of feedbacks; Using the plurality of feedbacks to generate adapted placewaypoints.

42. An apparatus comprising:

2. generating the adapted pick waypoint comprises: Using the calibrated Z-values ​​corresponding to each slide basket corner, interpolate slide Z-values ​​according to the position of the slide relative to the slide basket corner; modifying the pick waypoint using the interpolated slide Z value; The apparatus of claim 1 , comprising:

3. The device of claim 1 , wherein the plurality of feedbacks includes visual data and tactile data.

4. The visual data is generated using macro image analysis of the at least optical device, the macro image analysis comprising: capturing an image using the at least one optical device; processing said image using an image processor; Generate the visual data The apparatus of claim 3 , comprising:

5. The apparatus of claim 3 , wherein the haptic data is generated using the robotic arm and the at least one effector.

6. generating the adapted pick waypoint comprises: using the tactile data and the calibration procedure to identify a slide position within a slide basket; Using the slide position to modify the pick waypoint. The apparatus of claim 3 further comprising:

7. The at least one processor is further configured to control the robotic arm according to a placing sequence, the placing sequence comprising: Using the visual data, determine slide dimensions and slide attitude of the slide; generating the adapted placewaypoint using the sliding pose; Using the sliding dimensions to generate the adapted placeway points The apparatus of claim 3 , comprising:

8. generating the adapted placeway points determining a slide attitude and a slide tilt angle using the visual data and torque sensors; using the slide tilt angle to modify the placeway point to align the slide edge parallel to the edge of the basket slot; Using the tactile data, modify the waypoint to align the slide center with the basket slot center. The apparatus of claim 3 , comprising:

9. The robot arm Receives partial release status, using the at least one effector to implement the partially open state; adjusting the slide using a pusher mechanism; Receives an open status, and using said at least one effector to effectuate said open state. The device of claim 1 , configured to:

10. The apparatus of claim 1 , wherein the at least one effector comprises a gripper.

11. 1. A method for adaptive handling of slides, comprising: receiving, at least at a processor, a calibration procedure, the calibration procedure being generated using a plurality of waypoints; controlling at least a robotic arm according to the calibration procedure by the at least processor, the calibration procedure being configured to cause the robotic arm to pick a slide using a pick waypoint of the plurality of waypoints and to place a slide using a place waypoint of the plurality of waypoints; receiving, by the at least processor, a plurality of feedbacks from the at least robotic arm; generating an adapted pick waypoint using the plurality of feedbacks by the at least one processor; generating adapted placeway points using the plurality of feedbacks by the at least one processor; A method comprising:

12. generating the adapted pick waypoint comprises: Using the calibrated Z-values ​​corresponding to each slide basket corner, interpolate slide Z-values ​​according to the position of the slide relative to the slide basket corner; Modify the pick waypoint using the interpolated slide Z value. The method of claim 11 , comprising:

13. The method of claim 11 , wherein the plurality of feedbacks includes visual and tactile data.

14. generating said visual data using at least macro image analysis of an optical device; capturing an image using the at least one optical device; processing said image using an image processor; Generate the visual data The method of claim 13 further comprising:

15. The method of claim 13 , wherein the haptic data is generated using the robotic arm and at least an effector.

16. generating the adapted pick waypoint comprises: using the tactile data and the calibration procedure to identify a slide position within a slide basket; Use the slide position to modify the pick waypoint The method of claim 13 further comprising:

17. and further comprising using the at least one processor to control the robot arm according to a placement sequence, the placement sequence comprising: Using the visual data, determine slide dimensions and slide attitude of the slide; generating the adapted placewaypoint using the sliding pose; Using the sliding dimensions to generate the adapted placeway points The method of claim 13, comprising:

18. generating the adapted placeway points determining a slide attitude and a slide tilt angle using the visual data and torque sensors; using the slide tilt angle to modify the placeway point to align the slide edge parallel to the edge of the basket slot; Using the tactile data to modify the waypoint to align the slide center with the basket slot center. The method of claim 13, comprising:

19. receiving, by the robotic arm, a partially open state; implementing the partially open state by the robotic arm using at least an effector; adjusting the slide using a pusher mechanism by the robotic arm; receiving, by the robotic arm, an open state; and performing the opening state by the robotic arm using at least an effector. The method of claim 11 further comprising:

20. The method of claim 11 , wherein the at least one effector comprises a gripper.

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