Collection system, collection method, and collection program

Abstract

The target object on the sample plate is quickly retrieved. [Solution] A recovery system according to one embodiment comprises: a set stand that supports a sample plate on which sample sections are placed; a container holder that holds a recovery container for recovering target objects from the sample sections on the sample plate; a main blade; a first moving structure that supports the main blade so that the tip of the main blade is movable along the surface of the sample plate supported by the set stand; at least one first actuator that generates power to move the main blade via the first moving structure; at least one sub-blade; at least one second moving structure that supports at least one sub-blade so that it is movable relative to the tip of the main blade; and at least one second actuator that generates power to move at least one sub-blade via the at least one second moving structure.

Description

Technical Field

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[0001] The present disclosure relates to a recovery system, a recovery method, and a recovery program.

Background Art

[0002] Conventionally, a method for recovering a target object from a sample plate on which a sample containing the target object is placed has been known. For example, Patent Document 1 discloses a micromanipulation method in which a target object floating by dropping a peeling liquid onto a sample plate is aspirated and recovered. In addition, as other methods for recovering a target object from a sample plate, laser microdissection in which the peripheral tissue of the target object on the sample plate is cut with a laser under microscopic observation to recover the target object, and macrodissection in which the target object on the sample plate is scraped off using a scalpel or the like under visual observation are known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It is desired to quickly recover the target object on the sample plate.

[0005] An object of the present disclosure is to provide a recovery system, a recovery method, and a recovery program capable of quickly recovering a target object on a sample plate.

Means for Solving the Problems

[0006] A recovery system according to one aspect of the present disclosure includes: a set stand for supporting a sample plate on which sample sections are placed; a container holder for holding a recovery container for recovering target objects from the sample sections on the sample plate; a main blade; a first moving structure that supports the main blade so that the tip of the main blade is movable along the surface of the sample plate supported by the set stand; at least one first actuator that generates power to move the main blade via the first moving structure; at least one sub-blade; at least one second moving structure that supports the at least one sub-blade so that it is movable relative to the tip of the main blade; and at least one second actuator that generates power to move the at least one sub-blade via the at least one second moving structure.

[0007] A recovery method according to one aspect of the present disclosure is a system comprising at least one first actuator for generating power to move a main blade and at least one second actuator for generating power to move at least one sub-blade relative to the tip of the main blade, the recovery method for recovering a target object from a sample section on a sample plate into a recovery container, the method comprising: controlling the at least one first actuator to move the tip of the main blade along the surface of the sample plate to scrape off the target object from the sample section on the sample plate; and controlling the at least one second actuator to move the at least one sub-blade relative to the tip of the main blade to scrape off the target object adhering to the tip of the main blade into the recovery container.

[0008] A recovery program according to one aspect of this disclosure causes at least one processor to execute the recovery method. [Effects of the Invention]

[0009] According to one aspect of this disclosure, the target object on the sample plate can be quickly recovered. [Brief explanation of the drawing]

[0010] [Figure 1]Figure 1 is a schematic diagram of the recovery system according to the embodiment. [Figure 2] Figure 2 is a perspective view of a dissection apparatus. [Figure 3] Figure 3 is a perspective view of the set stand. [Figure 4] Figure 4 is an enlarged perspective view of the dicing tool and the holder that holds the dicing tool. [Figure 5] Figure 5 is an enlarged side view showing the positional relationship between the dicing tool and the solenoid actuator. [Figure 6] Figure 6 is a view of the main blade and the blade support structure that supports the main blade, as seen from a direction perpendicular to the main blade. [Figure 7] Figure 7 is a schematic side view illustrating the positional relationship between the tips of the main blade, the first secondary blade, and the second secondary blade. [Figure 8] Figure 8 is a block diagram showing the electrical system of the recovery system. [Figure 9] Figure 9 shows the flow of the collection process by the collection system. [Figure 10] Figure 10 shows an example of a settings screen displayed on the screen. [Figure 11] Figure 11 is a side view illustrating the positional relationship between the sample plate and the main blade during the dissection process. [Figure 12] Figure 12 is a partial side cross-sectional view illustrating the positional relationship between the recovery container, the main blade, the first sub-blade, and the second sub-blade. [Modes for carrying out the invention]

[0011] The embodiments will be described below with reference to the drawings.

[0012] (Background leading to the development of the system) Conventionally, so-called macrodissection, in which a target object is scraped off from a sample plate on which a sample containing the target object is placed, using a scalpel or the like, has been carried out manually by an operator, which has been time-consuming and laborious. Also, in conventional macrodissection, there has been room for improvement from the viewpoint of the homogeneity of the sample scraped off from the sample plate manually by the operator. The recovery system according to the present embodiment has been constructed from such a viewpoint and realizes automation of part or all of the operations of macrodissection.

[0013] (Schematic Configuration of the Whole System) FIG. 1 is a schematic configuration diagram of a recovery system 1 according to the present embodiment. FIG. 2 is a perspective view of a dissection device ३. In FIG. 2, a housing 10 described later is omitted. The recovery system 1 is a system for scraping off and recovering a target object to be recovered from a sample plate 100 on which a sample section is placed on a substrate such as a slide glass. The recovery system 1 includes a dissection device 3 and an information processing device 4.

[0014] The housing 10 includes a workbench 11 on which the dissection device 3 is placed, a fixed cover 12 fixed to the workbench 11, and a movable cover 13 movable with respect to the fixed cover 12. The movable cover 13 is movable between an open position and a closed position with respect to the fixed cover 12. As shown in FIG. 1, when the movable cover 13 is in the open position, the operator M can perform various operations inside the housing 10. The various operations include, for example, replacement of a dissection tool 70 described later and replacement of a sample plate holder 31. When the movable cover 13 is in the closed position, access by the operator M from the outside to the inside of the housing 10 is disabled by the fixed cover 12 and the movable cover 13.

[0015] In the following description, when viewed from the operator M working inside the housing 10, the left - right direction will be referred to as the X - direction, the front - back direction as the Y - direction, and the up - down direction as the Z - direction. The X - direction and the Y - direction are perpendicular to each other on the horizontal plane. The Z - direction is the vertical direction. Also, there are cases where the +X - direction side is expressed as the right side, the - X - direction side as the left side, the +Y - direction side as the back side, the - Y - direction side as the front side, the +Z - direction side as the upper side, and the - Z - direction side as the lower side. However, these directions are for convenience of explanation only and do not limit the following embodiments in any way.

[0016] The information processing device 4 includes an input device 21, a display device 22, and a main control device 23. The input device 21 is a device that receives the input from the operator M. For example, the input device 21 may include a lever, buttons, a touch panel, a joystick, a keyboard, a mouse, or any combination thereof. For example, the display device 22 is a liquid crystal display. The main control device 23, together with the drive control device 64 described later, constitutes the control system of the recovery system 1. The description of the control system will be given later.

[0017] As shown in FIG. 2, the dissection device 3 includes a set - table 30, an imaging device 41, a moving device 50, and a dissection tool 70.

[0018] (Set - table) FIG. 3 is a perspective view of the set - table 30. The set - table 30 supports a plurality of sample plates 100. The set - table 30 includes a sample - plate holder 31 that holds a plurality of sample plates 100 and a holder support structure 32 that supports the sample - plate holder 31.

[0019] The sample - plate holder 31 holds a plurality of sample plates 100 on which sample sections are placed. The surface of the sample plate 100 on which the sample section is placed may also be referred to as the shaving - target surface 100a. In the present embodiment, the sample - plate holder 31 is configured to hold six sample plates 100.

[0020] The sample plate 100 is a substrate on which a sample section is placed. In this embodiment, the substrate is a glass slide. Hereinafter, the sample plate 100 may also be referred to as a sample slide. The six sample plates 100 held in the sample plate holder 31 include one reference sample plate 101 and five sample plates 102 for dissection.

[0021] The reference sample plate 101 is a sample plate on which the area of ​​the target object to be scraped off in the sample section is marked. The dissection sample plate 102 does not have the area of ​​the target object marked. The reference sample plate 101 is used to determine the area of ​​the target object on the dissection sample plate 102. The target object on the reference sample plate 101 is not recovered by the recovery system 1, while the target object on the dissection sample plate 102 is recovered by the recovery system 1.

[0022] An example of a method for preparing a reference sample plate 101 and five dissection sample plates 102 is described below. Sample sections are obtained by thinly slicing a tissue block that has been solidified by methods such as paraffin embedding. Multiple sample plates 100 are prepared by placing each of the obtained sample sections on a glass slide.

[0023] Some of the prepared sample plates 100 are stained to facilitate observation of the sample sections on the glass slides. Subsequently, the stained sample sections are observed by, for example, a physician, and the areas to be removed from the sample sections are identified as target objects. The area of ​​the target object is then marked on the back of the glass slide with a marker pen or similar. In this way, a reference sample plate 101 with the target object marked is obtained.

[0024] On the other hand, among the multiple sample plates 100 prepared, the remaining sample plates 100 that have not been stained or marked with target objects are used as dissection sample plates 102. For example, when slicing a tissue block, five consecutive sections placed on each of the five sample plates 100 are set in the sample plate holder 31 as five dissection sample plates 102. For example, the reference sample plate 101 may be called a stained specimen slide 101 or stained slide 101, and the dissection sample plates 102 may be called an unstained specimen slide 102 or unstained slide 102.

[0025] The holder support structure 32 includes a base 32a and a plurality of legs 32b that rise from the base 32a. The base 32a is, for example, plate-shaped. The base 32a is fixed on a table 51, which will be described later. The base 32a may be integral with the table 51, which will be described later. The sample plate holder 31 is connected to the plurality of legs 32b. The sample plate holder 31 is positioned above the plurality of legs 32b.

[0026] As shown in Figure 3, the set stand 30 is configured to support the sample plate 100 such that the surface to be cut 100a faces upward. The set stand 30 is configured to support the sample plate 100 such that the surface to be cut 100a is inclined with respect to the horizontal plane. That is, the surface to be cut 100a faces diagonally upward. The surface to be cut 100a is inclined upward as it moves from the back to the front, in other words, as it moves away from the dicing tool 70 described later in the horizontal direction. For example, it is preferable that the longitudinal direction of the sample plate 100 is greater than 0° and less than 50° with respect to the horizontal plane.

[0027] The holder support structure 32 is configured to detachably support the sample plate holder 31. Specifically, the leg portion 32b is equipped with a detachable structure. Therefore, within the housing 10, the operator M can replace the sample plate holder 31 without removing the sample plate 100 from the sample plate holder 31. For example, the holder support structure 32 may be equipped with a locking device similar to the commercially available slide locking device N described later, and the sample plate holder 31 may be detachably attached to the holder support structure 32 by this locking device. However, the holder support structure 32 may not be detachably attached to the sample plate holder 31.

[0028] A container holder 33 for holding the collection container 110 is positioned on the base 32a. The collection container 110 is a plastic container for collecting the target material from the sample section. The collection container 110 is, for example, a screw-cap tube, but may be of another type.

[0029] The container holder 33 is configured to hold the collection container 110 in an inclined position. More specifically, the container holder 33 is configured to support the sample plate 100 with the opening direction of the collection container 110 inclined with respect to the vertical direction, the +Z direction. The opening direction is the direction extending from the bottom of the collection container 110 toward the opening. The opening direction of the collection container 110 is generally the same as the direction in which the surface 100a of the sample plate 100 faces. For example, the angle that a virtual line connecting the upper and lower ends of the opening 110a of the collection container 110 (see also Figure 12) makes with respect to the horizontal plane is preferably greater than 0° and less than 45°. The angle that this virtual line makes with respect to the horizontal plane may be the same as or different from the angle that the longitudinal direction of the sample plate 100 makes with respect to the horizontal plane.

[0030] (Imaging device) Returning to Figure 2, the imaging device 41 images multiple sample plates 100 supported by the set stand 30. The imaging device 41 is, for example, a digital camera. The imaging device 41 is positioned above the surface 100a to be cut in order to image the surface 100a of the sample plate 100. The image data obtained by the imaging device 41 is sent to the main control device 23.

[0031] The imaging device 41 is fixed to, for example, the fixed cover 12 via a support member 42. The method of fixing the imaging device 41 is not particularly limited. For example, the imaging device 41 may be fixed to a support column extending upward from the table 51 of the mobile device 50 described later, or it may be fixed to the set stand 30. The imaging device 41 is fixed so that all of the multiple sample plates 100 supported by the set stand 30 are within the field of view, but it may be movable to image the multiple sample plates 100 individually. For example, the imaging device 41 may be configured to be movable by the mobile device 50 or a device other than the mobile device 50.

[0032] (Mobile device) The moving device 50 is configured to allow the holder 55 that holds the dicing tool 70 to move freely in the X, Y, and Z directions relative to the set base 30.

[0033] Specifically, as shown in Figure 2, the moving device 50 includes a table 51. A set base 30 is fixed to the upper surface of the table 51. The moving device 50 includes an X-axis feed device 52 that moves the table 51 and the holder 55 relative to each other in the X direction, a Y-axis feed device 53 that moves the table 51 and the holder 55 relative to each other in the Y direction, and a Z-axis feed device 54 that moves the table 51 and the holder 55 relative to each other in the vertical direction.

[0034] The X-axis feed device 52 includes an X-axis motor 52b (see Figure 8), a linear motion mechanism that converts the rotational motion of the X-axis motor 52b into linear motion in the X direction, and an X-direction movable part 52a that moves in the X direction by the linear motion mechanism. The Y-axis feed device 53 includes a Y-axis motor 53b (see Figure 8), a linear motion mechanism that converts the rotational motion of the Y-axis motor 53b into linear motion in the Y direction, and a Y-direction movable part 53a that moves in the Y direction by the linear motion mechanism. The Z-axis feed device 54 includes a Z-axis motor 54b (see Figure 8), a linear motion mechanism that converts the rotational motion of the Z-axis motor 54b into linear motion in the Z direction, and a Z-direction movable part 54a that moves in the Z direction by the linear motion mechanism. Each linear motion mechanism is a well-known linear motion mechanism, such as a linear guide or a ball screw.

[0035] In this embodiment, the moving device 50 is connected in the following order: table 51, Y-axis feed device 53, X-axis feed device 52, Z-axis feed device 54, and holder 55. That is, in the moving device 50, the Y-axis movable part 53a moves in the Y direction relative to the table 51, the X-axis movable part 52a moves in the X direction relative to the Y-axis movable part 53a, the Z-axis movable part 54a moves in the Z direction relative to the X-axis movable part 52a, and the holder 55 is fixed to the Z-axis movable part 54a. However, the order in which the Y-axis feed device 53, X-axis feed device 52, and Z-axis feed device 54 are connected does not have to be in this order.

[0036] The structure for moving the holders 55 of the X-axis feed device 52, Y-axis feed device 53, and Z-axis feed device 54 is an example of a first moving structure that supports the main blade 72, described later, so as to be movable relative to the set base 30. Furthermore, the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b are examples of first actuators that generate power to move the main blade 72, described later, relative to the set base 30.

[0037] (Holder and dicing tool) The retainer 55 detachably holds the dicing tool 70. The retainer 55 also supports two solenoid actuators 61 and 62 and an ionizer 63. The retainer 55 includes a frame body 56 which is formed by connecting multiple members 56a, 56b, 56c, 56d, etc., such as L-shaped brackets.

[0038] Figure 4 is an enlarged perspective view of the dicing tool 70 and the holder 55 that holds the dicing tool 70. Figure 5 is an enlarged side view showing the positional relationship between the dicing tool 70 and the solenoid actuators 61 and 62. Note that in Figures 4 and 5, the member 56d that supports the ionizer 63 is omitted.

[0039] The retainer 55 is configured to detachably hold the dicing tool 70. The detachable structure for attaching and detaching the dicing tool 70 to the retainer 55 is not particularly limited, and any well-known detachable structure can be used.

[0040] An example of a detachable structure that allows one of the retainer 55 and the dicing tool 70 to be detachably attached to the other will be described. For example, in this embodiment, the dicing tool 70 is detachably attached to the retainer 55 by a commercially available slide lock device N. For example, as shown in Figure 4, the dicing tool 70 has a plate-shaped member 71b. The slide lock device N is supported on the upper surface of the plate-shaped member 71b, separated vertically by a gap G between the plate-shaped member 71b and a spacer portion n1. On the other hand, the frame body 56 has slide rail portions 56c, 56c that can be inserted into the gap G. The slide rail portions 56c, 56c are separated from each other in the left-right direction. With the slide rail portions 56c, 56c positioned in the gap G so as to sandwich the spacer portion n1 in the left-right direction, the rotation knob n2 of the slide lock device N engages with the slide lock device N and releases their engagement.

[0041] Two solenoid actuators 61 and 62 are supported by the frame body 56 of the retainer 55. In this embodiment, the solenoid actuators 61 and 62 are push solenoids. The solenoid actuator 61 includes a body 61a that houses a coil, a plunger 61b which is a movable iron core protruding from one side of the body 61a, a push rod 61c which is arranged to pass through the body 61a and connected to the plunger 61b, and a spring 61d which provides a restoring force to the plunger 61b.

[0042] The main body 61a is fixed to a member 56b of the frame body 56. When no electricity is supplied to the solenoid actuator 61, the spring 61d biases the push rod 61c to the retracted position. When electricity is supplied to the solenoid actuator 61, an attractive force is generated that pulls the plunger 61b towards the main body 61a, and the push rod 61c moves from the retracted position to the pushed position.

[0043] The solenoid actuator 62, like the solenoid actuator 61, includes a body 61a, a plunger 62b, a push rod 62c, and a spring 62d. Since the configuration of the solenoid actuator 62 is the same as that of the solenoid actuator 61, a detailed explanation is omitted.

[0044] The dicing tool 70 includes a frame body 71, one main blade 72, a blade support structure 73 that supports the main blade 72, two secondary blades 74 and 75, and blade support structures 76 and 77 that support the two secondary blades 74 and 75, respectively.

[0045] The frame body 71 is constructed by connecting multiple members 71a, 71b, etc., such as L-shaped brackets. For example, the frame body 71 has the aforementioned attachment / detachment structure that allows it to be attached to and detached from the retainer 55. In this example, the frame body 71 has a slide lock device N.

[0046] The main blade 72 is a blade used to scrape off the target object on the sample plate 100. For example, the main blade 72 is a thin, flat blade.

[0047] The blade support structure 73 supports the main blade 72. In this embodiment, the blade support structure 73 supports the main blade 72 so as to be movable relative to the frame body 71. The blade support structure 73 will be described with reference to Figure 6 as appropriate. Figure 6 is a view of the main blade 72 and the blade support structure 73 that supports the main blade 72 from a direction perpendicular to the main blade 72. In Figure 6, a part of the frame body 71 is shown in cross-section to make the elongated hole H, which will be described later, easier to see. As shown in Figure 6, the blade support structure 73 includes a holding part 73a that holds the main blade 72, a movement restricting part 73b that restricts the range of movement of the main blade 72 relative to the frame body 71, and a spring 73c that biases the main blade 72 in the direction from the base end to the tip end of the main blade 72.

[0048] The movement restricting portion 73b is fixed to the holding portion 73a. In this embodiment, a member 71a of the frame body 71 has an elongated hole H, and the movement restricting portion 73b is composed of two pins P that pass through the elongated hole H. In Figure 5, the elongated hole H is shown by a dashed line. The elongated hole H is long in the direction of extension of the main blade 72. In this way, the movement direction and range of the pins P are restricted by the elongated hole H, thereby restricting the movement direction and range of the main blade 72 relative to the frame body 71.

[0049] The spring 73c applies a biasing force to the main blade 72 in the direction from the base end to the tip end, that is, from the back to the front. Specifically, the spring 73c is, for example, a compression coil spring, with the front end of the spring 73c connected to the holding part 73a and the rear end of the spring 73c connected to the fixing part 73d fixed to the frame body 71. Due to the biasing force of the spring 73c, the movement restricting part 73b (pin P in this example) is positioned at the frontmost position within its range of movement. Within the range of movement of the movement restricting part 73b, the main blade 72 can retract toward its base end. Therefore, even if the thickness of the sample plate 100 supported on the set stand 30 is thicker than expected, the main blade 72 can be displaced in a direction against the biasing force when the tip end of the main blade 72 contacts the sample plate 100. Therefore, when the tip of the main blade 72 comes into contact with the sample plate 100, it is possible to suppress the generation of excessive force between the sample plate 100 and the main blade 72.

[0050] Returning to Figure 5, the secondary blades 74 and 75 are used to scrape off any target material that has adhered to the main blade 72 after it has been scraped off the target material from the sample plate 100.

[0051] One of the two sub-blades 74 and 75, sub-blade 74, is positioned to face one main surface of the main blade 72, and the other sub-blade 75 is positioned to face the other main surface of the main blade 72. Of the two sub-blades 74 and 75, the sub-blade facing the rake face 72a of the main blade 72 is referred to as the "first sub-blade 74," and the sub-blade facing the flank face 72b of the main blade 72 is referred to as the "second sub-blade 75." In this embodiment, the rake face 72a of the main blade 72 is the main surface facing upwards, so the rake face 72a of the main blade 72 may also be referred to as the upper surface 72a. Also, the flank face 72b of the main blade 72 is the main surface facing downwards, so the flank face 72b of the main blade 72 may also be referred to as the lower surface 72b.

[0052] For example, the first sub-blade 74 and the second sub-blade 75 are both thin, flat blades. In this embodiment, the main blade 72, the first sub-blade 74, and the second sub-blade 75 have the same shape, but they may be different from each other.

[0053] The blade support structures 76 and 77 respectively support two sub-blades 74 and 75 so that they are movable relative to the tip of the main blade 72 and the frame body 71. Of the blade support structures 76 and 77, the blade support structure that supports the first sub-blade 74 is referred to as the "first blade support structure 76," and the blade support structure that supports the second sub-blade 75 is referred to as the "second blade support structure 77."

[0054] The first blade support structure 76 includes a holding portion 76a for holding the first sub-blade 74, a guide hole 76c in a bracket 76b fixed to the frame body 71, a guide shaft 76d positioned in the guide hole 76c, a slider 76e that moves together with the guide shaft 76d, a guide groove 76f that guides the slider 76e to slide, and a connecting portion 76g that connects the slider 76e and the holding portion 76a. The slider 76e is positioned to be pressed against the tip of a drive push rod 61c. Some of the elements included in the first blade support structure 76 may be integrally molded members.

[0055] Furthermore, the first blade support structure 76 has a spring 76h. The spring 76h applies a biasing force to the first sub-blade 74 in the direction from the tip end to the base end, that is, from the front side to the back side. The spring 76h is, for example, a compression coil spring. In this embodiment, the slider 76e is positioned on the back side relative to the bracket 76b, and the spring 76h is positioned so as to be sandwiched between the portion of the bracket 76b around the guide hole 76c and the slider 76e. The slider 76e, which receives one end of the spring 76h, and the first sub-blade 74 connected to the slider 76e are biased by the spring 76h in the direction away from the guide hole 76c.

[0056] The second blade support structure 77 includes a holding portion 77a for holding the second sub-blade 75, a guide hole 77c in a bracket 77b fixed to the frame body 71, a guide shaft 77d positioned in the guide hole 77c, a slider 77e that moves together with the guide shaft 77d, a guide groove 77f that guides the slider 77e to slide, and a connecting portion 77g that connects the slider 77e and the holding portion 77a. The slider 77e is positioned to be pressed against the tip of the drive push rod 61c. Some of the elements included in the second blade support structure 77 may be integrally molded members.

[0057] Furthermore, the second blade support structure 77 has a spring 77h. The spring 77h applies a biasing force to the second sub-blade 75 in the direction from the tip end to the base end, that is, from the front side to the back side. The spring 77h is, for example, a compression coil spring. In this embodiment, the slider 77e is positioned on the back side relative to the bracket 77b, and the spring 77h is positioned so as to be sandwiched between the portion of the bracket 77b around the guide hole 77c and the slider 77e. The slider 77e, which receives one end of the spring 77h, and the second sub-blade 75 connected to the slider 77e are biased by the spring 77h in the direction away from the guide hole 77c.

[0058] The first blade support structure 76 supports the first sub-blade 74 so that the tip of the first sub-blade 74 can move to reach or pass near the tip of the main blade 72. The second blade support structure 77 supports the second sub-blade 75 so that the tip of the second sub-blade 75 can move to reach or pass near the tip of the main blade 72.

[0059] In this specification and in the claims, the vicinity of the tip of the main blade refers to the area where a target object may be present on the tip of the main blade due to the die sectioning process. That is, by the tip of the secondary blade moving near the tip of the main blade, the tip of the secondary blade can come into contact with the target object attached to the tip of the main blade and remove the target object from the tip of the main blade. For the tip of the secondary blade to reach or pass near the tip of the main blade includes the tip of the secondary blade coming into contact with the tip of the main blade. In other words, by the tip of the secondary blade moving near the tip of the main blade, the secondary blade scrapes off the target object attached to the tip of the main blade. For example, the vicinity of the tip of the main blade may be within 3 mm from the tip of the main blade.

[0060] Referring to Figure 7, the positional relationship of the tips of the main blade 72, the first secondary blade 74, and the second secondary blade 75 will be explained in detail. Figure 7 is a schematic side view illustrating the relative positional relationship of the tips of the main blade 72, the first secondary blade 74, and the second secondary blade 75. The main blade 72, the first secondary blade 74, and the second secondary blade 75 all have the same cutting edge angle. The cutting edge angle is, for example, 30°.

[0061] The first blade support structure 76 supports the first sub-blade 74 so that it can move in the direction of arrow t1 in Figure 7 between a standby position shown by a solid line in Figure 7 and an advanced position shown by a dashed line in Figure 7. The direction of arrow t1 is parallel to the upper surface 72a of the main blade 72. In other words, the first blade support structure 76 supports the first sub-blade 74 so that it can move parallel to the upper surface 72a of the main blade 72.

[0062] The tip of the first sub-blade 74 in the standby position is located closer to the base end of the tip of the main blade 72 than the tip of the first sub-blade 74 in the extended position. The tip of the first sub-blade 74 in the standby position is in contact with the upper surface 72a of the main blade 72 closer to the base end of the tip of the main blade 72. In this embodiment, the position of the tip of the first sub-blade 74 in the extended position is such that it overlaps with the tip of the main blade 72 when viewed from above. The position of the tip of the first sub-blade 74 in the extended position may be on the opposite side (in other words, the front side) of the base end of the main blade 72 when viewed from above. For at least a portion of the period from when the first sub-blade 74 leaves the standby position until when it reaches the extended position, the tip of the first sub-blade 74 moves along the upper surface 72a of the main blade 72 from the base end side toward the tip side in the vicinity of the tip of the main blade 72. In this embodiment, the tip of the first sub-blade 74 moves in the vicinity of the tip of the main blade 72 while in contact with the upper surface 72a of the main blade 72 for at least a portion of the period from when it leaves the standby position until it reaches the extended position.

[0063] When no electricity is supplied to the solenoid actuator 61, the biasing force of the spring 76h positions the first sub-blade 74 in the rearward standby position. When electricity is supplied to the solenoid actuator 61, the slider 76e is pushed by the tip of the push rod 61c and moves in the guide groove 76f, and as a result, the first sub-blade 74 connected to the slider 76e moves from the standby position to the extended position.

[0064] The second blade support structure 77 supports the second sub-blade 75 so that it can move in the direction of arrow t2 in Figure 7 between a standby position shown by a solid line in Figure 7 and an advanced position shown by a dashed line in Figure 7. The direction of arrow t2 is parallel to the lower surface 72b of the main blade 72. In other words, the second blade support structure 77 supports the second sub-blade 75 so that it can move parallel to the lower surface 72b of the main blade 72.

[0065] The tip of the second sub-blade 75 in the standby position is located closer to the base end of the tip of the main blade 72 than the tip of the second sub-blade 75 in the extended position. In this embodiment, the position of the tip of the second sub-blade 75 in the extended position is, in a top view, on the opposite side (in other words, the front side) of the base end of the main blade 72 relative to the tip of the main blade 72. The position of the tip of the second sub-blade 75 in the extended position may be in a position that overlaps with the tip of the main blade 72 in a top view. For at least a portion of the period from when the second sub-blade 75 leaves the standby position until when it reaches the extended position, the tip of the second sub-blade 75 moves along the lower surface 72b of the main blade 72 from the base end side toward the tip side in the vicinity of the tip of the main blade 72. In this embodiment, the tip of the second sub-blade 75 moves in the vicinity of the tip of the main blade 72 while in contact with the lower surface 72b of the main blade 72 for at least a portion of the period from when it leaves the standby position until it reaches the extended position.

[0066] When no electricity is supplied to the solenoid actuator 62, the biasing force of the spring 77h positions the second sub-blade 75 in the rearward standby position. When electricity is supplied to the solenoid actuator 62, the slider 77e is pushed by the tip of the push rod 62c and moves in the guide groove 77f, and as a result, the second sub-blade 75 connected to the slider 77e moves from the standby position to the extended position.

[0067] The first blade support structure 76 and the second blade support structure 77 are examples of second moving structures that support a secondary blade so as to be movable relative to the tip of the main blade. The two solenoid actuators 61 and 62 are examples of second actuators that generate power to move the secondary blade relative to the main blade.

[0068] Furthermore, as shown in Figure 2, the holder 55 supports the ionizer 63. The ionizer 63 is an electrostatic discharge device that generates ions and irradiates the main blade 72, the first sub-blade 74, the second sub-blade 75, and the sample plate 100 on the set stand 30 to remove static electricity charged on their surfaces. The ionizer 63 is fixed to a component 56d of the holder 55. That is, the ionizer 63 moves together with the dissection tool 70.

[0069] (Control system) Figure 8 is a block diagram showing the electrical system of the recovery system 1. As shown in Figure 8, the dicing device 3 is equipped with a drive control device 64 configured to control the driving of various actuators. The control system of the recovery system 1 is formed by the cooperation of the main control device 23 of the information processing device 4 and the drive control device 64 of the dicing device 3.

[0070] The main control unit 23 of the information processing device 4 includes a processing circuit 23a and an input / output interface. The processing circuit 23a includes a processor, system memory, and storage memory. The processor is, for example, a CPU. The system memory is, for example, RAM. The storage memory is an example of a computer-readable medium, and is a non-temporary, tangible medium. The storage memory may include ROM. The storage memory may include a hard disk, flash memory, or a combination thereof. The storage memory stores various programs. For example, the storage memory stores a setting program for making various settings to operate the die sectioning device 3. The setting program is a program for setting the target areas for die sectioning in a plurality of unstained slides 102 supported on the set stand 30.

[0071] The main control unit 23 is connected to the input device 21 and the display device 22 in a communicative manner. The information processing device 4 may be a general-purpose computer such as a personal computer, or it may be a dedicated device for the dissection device 3. The input device 21, the display device 22, and the main control unit 23 may be configured as an integrated unit.

[0072] The main control unit 23 is electrically connected to various components of the dissection apparatus 3. For example, the main control unit 23 is electrically connected to the imaging device 41, the ionizer 63, and the drive control device 64 of the dissection apparatus 3. For example, the main control unit 23 receives image data from the imaging device 41. The processing circuit 23a controls the ionizer 63. The processing circuit 23a activates the ionizer 63 at a predetermined timing before or during the recovery process described later.

[0073] Operator M can view the screen displayed on the display device 22 and make various settings to operate the dicing apparatus 3 via the input device 21. The main control device 23 generates setting information in response to operator M's operations and sends this setting information to the drive control device 64. In this embodiment, the main control device 23 generates a processing program as setting information in response to operator M's operations and sends the processing program to the drive control device 64. The processing program is a program for driving various actuators to recover the target object from the target area of ​​dicing in a plurality of unstained slides 102 supported on the set stand 30. The processing program is an example of a recovery program.

[0074] The drive control device 64 includes a processing circuit 64a and an input / output interface. The processing circuit 64a includes a processor, system memory, and storage memory. The processor is, for example, a CPU. The system memory is, for example, RAM. The storage memory is an example of a computer-readable medium, and is a non-temporary, tangible medium. The storage memory may include ROM. The storage memory may include a hard disk, flash memory, or a combination thereof. The storage memory stores various programs. The processing circuit 64a may also include a drive circuit that outputs drive power to various actuators. The drive circuit includes, for example, a servo amplifier.

[0075] The drive control device 64 receives a machining program from the main control device 23. The received machining program is stored in the memory included in the processing circuit 64a. The processing circuit 64a controls various actuators based on the received machining program.

[0076] For example, the processing circuit 64a controls the moving device 50 to move the main blade 72 to a desired position (for example, near the workpiece slider described later). That is, the processing circuit 64a controls at least one of the X-axis feed device 52, Y-axis feed device 53, and Z-axis feed device 54 to move the main blade 72 relative to the set table 30.

[0077] More specifically, the X-axis feed device 52 comprises an X-axis motor 52b and a position detector 52c, the Y-axis feed device 53 comprises a Y-axis motor 53b and a position detector 53c, and the Z-axis feed device 54 comprises a Z-axis motor 54b and a position detector 54c. The processing circuit 64a receives position information from the position detectors 52c, 53c, and 54c. The position detectors 52c, 53c, and 54c are, for example, encoders. The processing circuit 64a generates a position command value for moving the main cutting edge 72 from the machining program, and controls at least one of the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b based on the generated position command value and the position information received from the position detectors 52c, 53c, and 54c.

[0078] The processing circuit 64a controls two solenoid actuators 61 and 62 to move the sub-blades 74 and 75 relative to the main blade 72, respectively.

[0079] (The process for recovering the target object) Next, we will explain the process of recovering the target object from the sample section using the recovery system 1.

[0080] First, before operating the dissection apparatus 3, operator M prepares to retrieve the target object by setting up the dissection tool 70 and the sample plate holder 31 inside the housing 10. More specifically, operator M positions the movable cover 13 in the open position, and then attaches the dissection tool 70, with a new main blade 72 and two sub-blades 74 and 75 attached, to the holder 55. Operator M also prepares the sample plate holder 31, which holds one stained slide 101 and several unstained slides 102, and attaches the sample plate holder 31 to the holder support structure 32. After completing these tasks, the movable cover 13 is moved from the open position to the closed position.

[0081] Figure 9 is a flowchart showing the flow of the recovery process by the recovery system 1. In this embodiment, the recovery process shown in Figure 9 is started when operator M operates the input device 21 to execute a setting program on the processing circuit 23a. In the recovery process, the target area for dissection is set on a plurality of unstained slides 102 supported on the set stand 30 (step S1). The target area for dissection is the range of the target object.

[0082] The setting of the target area for dissection will be explained with reference to Figure 10. Figure 10 is an example of the setting screen D displayed on the display device 22. The processing circuit 23a sends an imaging command to the imaging device 41 and receives image data obtained from the imaging device 41 by imaging multiple sample plates 100 supported by the set stand 30. The processing circuit 23a extracts an image of the stained slide 101 from the image data and displays it in the first area 81 of the setting screen D. The processing circuit 23a also extracts images of multiple unstained slides 102 from the image data and displays them in multiple second areas 82 of the setting screen D.

[0083] Subsequently, the processing circuit 23a recognizes the target area 84 of the sample section on the stained slide 101 to be scraped off. More specifically, the processing circuit 23a obtains information from the image of the stained slide 101 of the first region 81 regarding the target area 84 of the sample section 83 on the stained slide 101 that has been marked by a physician or other professional as the area to be scraped off. The information regarding the area to be scraped off 84 includes information such as the position of the area to be scraped off 84 on the stained slide 101, and the shape and size of the area to be scraped off 84.

[0084] Information regarding the area to be scraped 84 may be automatically obtained from the image of the stained slide 101 by image recognition processing, or it may be obtained by the operator M manually setting it via the input device 21 while viewing the image of the stained slide 101 on the setting screen D.

[0085] After the processing circuit 23a recognizes the target area 84, if, for example, operator M presses the copy button 87 on the setting screen D via the input device 21, a target area 86 similar to the target area 84 to be scraped will be displayed on the image of the unstained slide 102 of the second region 82.

[0086] Operator M checks the relative positions of the sample section 85 and the target area 86 in the image for each second region 82. If there are no problems, operator M presses the OK button 88 on the setting screen D via the input device 21. If there are problems, operator M manually adjusts the position of the target area 86 in the image for each second region 82 for each unstained slide 102 via the input device 21, and then presses the OK button 88. Alternatively, the processing circuit 23a may automatically adjust the position of the target area 86. In this way, the setting of the target area 84 to be removed for each unstained slide 102 is completed. In this embodiment, the processing circuit 23a of the main control device 23 generates a processing program according to the settings of the target area 84 to be removed and sends the processing program to the drive control device 64.

[0087] Furthermore, the processing circuit 23a may acquire information regarding the contour of the sample section 83 on the stained slide 101, in addition to information regarding the area to be scraped 84, from the image of the stained slide 101 of the first region 81. Also, the processing circuit 23a may acquire information regarding the contour of the sample section 85 on the unstained slide 102, from the image of the unstained slide 102 of the second region 82. The contour of the sample section can be acquired, for example, by image recognition processing. In this case, the processing circuit 23a may set the position of the target area 86 based on the information regarding the area to be scraped 84, the information regarding the contour of the sample section 83, and the information regarding the contour of the sample section 85. In other words, the processing circuit 23a may align the position of the target area 84 with respect to the contour of the sample section 83, and then align the position of the target area 86 with respect to the contour of the sample section 85. This allows the position of the target area 86 relative to the contour of the sample section 85 on the unstained slide 102 to be automatically aligned with the position of the target area 84 relative to the contour of the sample section 83 on the stained slide 101, even if the position of the sample section differs on each slide.

[0088] Returning to Figure 9, once the target area setting in step S1 is complete, the processing circuit 64a of the drive control device 64 automatically executes the processing from step S2 onward. The processing circuit 64a controls various actuators based on the machining program.

[0089] Specifically, the processing circuit 64a sets one of the multiple unstained slides 102 supported on the set stand 30 as the workpiece slide (step S2). For example, the processing circuit 64a sets the unstained slide 102 closest to the stained slide 101 as the workpiece slide.

[0090] Next, the processing circuit 64a performs a dissection process on the work slide to remove the target object from the sample section on the sample plate (step S3). In the dissection process, the processing circuit 64a controls at least one of the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b to move the main blade 72 toward the work slide, and moves the tip of the main blade 72 along the surface of the work slide to remove the target object from the sample section on the work slide.

[0091] The dissection process will be explained in more detail with reference to Figure 11. Figure 11 is a side view illustrating the positional relationship between the unstained slide 102 and the main blade 72, which are set as the workpiece slide in the dissection process. As mentioned above, the set stand 30 supports the sample plate 100 so that it is inclined with respect to the horizontal plane. In the dissection process, the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b are controlled so that the tip of the main blade 72 moves upward over a portion of the target area on the sample plate 100. By moving the main blade 72 in this way, the target object T is more easily placed on the rake face 72a of the main blade 72 when the target object is removed from the sample section on the sample plate 100.

[0092] The dissection process in step S3 is completed by moving the tip of the main blade 72 over the target area on the sample plate 100 by a predetermined stroke amount. The stroke amount may be a preset value, or it may vary depending on the size of the target area and the size of the sample sections remaining in the target area.

[0093] After step S3, the processing circuit 64a performs a positioning operation of the tip of the main blade 72 relative to the recovery container 110 (step S4). Subsequently, the processing circuit 64a performs a scraping operation to scrape off the target object adhering to the main blade 72 into the recovery container 110 (step S5).

[0094] The positioning process and scraping process will be described in more detail with reference to Figure 12. Figure 12 is a partial side cross-sectional view illustrating the positional relationship between the recovery container 110, the main blade 72, the first sub-blade 74, and the second sub-blade 75. In the positioning process of step S4, the processing circuit 64a controls at least one of the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b to position the tip of the main blade 72 so that it overlaps with the recovery container 110 in a top view. More specifically, as shown in Figure 12, in the positioning process, the processing circuit 64a controls at least one of the X-axis motor 52b, Y-axis motor 53b, and Z-axis motor 54b so that the tip of the main blade 72 passes through the opening 110a of the recovery container 110 and positions the tip of the main blade 72 inside the recovery container 110.

[0095] In the scraping process of step S5, the tip of the first sub-blade 74 is moved relative to the main blade 72, and the tip of the second sub-blade 75 is moved relative to the main blade 72. Specifically, first the processing circuit 64a controls the solenoid actuator 61 to move the tip of the first sub-blade 74 from the standby position to the extended position, and then returns it from the extended position to the standby position. That is, the processing circuit 64a controls the solenoid actuator 61 to move the first sub-blade 74 relative to the tip of the main blade 72 to scrape off the target material adhering to the tip of the main blade 72 into the recovery container 110. Next, the processing circuit 64a controls the solenoid actuator 62 to move the tip of the second sub-blade 75 from the standby position to the extended position, and then returns it from the extended position to the standby position. In other words, the processing circuit 64a controls the solenoid actuator 62 to move the second sub-blade 75 relative to the tip of the main blade 72, scraping off the target object adhering to the tip of the main blade 72 into the recovery container 110. As a result, the target object T adhering to the main blade 72 is scraped into the recovery container 110.

[0096] Returning to Figure 9, after step S5, the processing circuit 64a determines whether recovery has been completed for the entire area of ​​the work slide (step S6). If the processing circuit 64a determines that recovery has not been completed for the entire area of ​​the work slide (step S6: No), it returns to step S3 and performs dicing on the uncut portions of the target area.

[0097] If the processing circuit 64a determines that recovery has been completed for the entire area of ​​the target slide (Step S6: Yes), it determines whether recovery has been completed for all unstained slides 102 on the setting stand 30 (Step S7). If the processing circuit 64a determines that recovery has not been completed for all unstained slides 102 on the setting stand 30 (Step S7: No), it sets the next unstained slide 102 that has not been recovered from among the multiple unstained slides 102 supported on the setting stand 30 as the target slide (Step S8), and returns to Step S3.

[0098] If the processing circuit 64a determines that recovery has been completed for all unstained slides 102 on the set stand 30 (step S7: Yes), it terminates the recovery process.

[0099] (Effects and Benefits) According to the recovery system 1 of this embodiment, after scraping off the target object on the sample plate 100 with the main blade 72, the first sub-blade 74 and the second sub-blade 75 are moved relative to the tip of the main blade 72, thereby scraping off the target object adhering to the main blade 72. This allows for the rapid recovery of the target object on the sample plate 100.

[0100] Furthermore, according to the recovery system 1 of this embodiment, since the first sub-blade 74 is movable parallel to the rake face of the main blade 72, it is possible to prevent the forces acting between the first sub-blade 74 and the main blade 72 from becoming too large when moving the first sub-blade 74 relative to the main blade 72.

[0101] Furthermore, according to the recovery system 1 of this embodiment, not only is the first sub-blade 74 facing the rake face 72a of the main blade 72 moved from the standby position to the extended position, but the second sub-blade 75 facing the relief face 72b of the main blade 72 is also moved from the standby position to the extended position. As a result, it is possible to prevent the target object attached to the rake face 72a side from rotating from the rake face 72a side to the relief face 72b side at the tip of the main blade 72 due to the movement of the first sub-blade 74 and remaining attached to the main blade 72. Consequently, the recovery efficiency of the target object is improved compared to the case in which only one sub-blade facing the rake face 72a of the main blade 72 is provided.

[0102] Furthermore, according to the recovery system 1 of this embodiment, the tip of the main blade 72 is moved along the surface of the sample plate 100 with the scooping surface 72a of the main blade 72 facing upward, making it easier for the target object to land on the scooping surface 72a of the main blade 72.

[0103] Furthermore, according to the recovery system 1 of this embodiment, in order to perform the positioning process in step S4, it is not necessary to position the recovery container directly below the tip of the main blade 72 while scraping the target object on the sample plate 100. This improves the design flexibility of the recovery system 1.

[0104] Furthermore, according to the recovery system 1 of this embodiment, the tip of the main blade 72 moves upward along the surface of the sample plate 100, making it easier for sample sections to land on the scooping surface of the main blade 72.

[0105] Furthermore, according to the recovery system 1 of this embodiment, after positioning the tip of the main blade 72 inside the recovery container 110, the target object can be scraped off from the tip of the main blade 72, thereby ensuring that the target object is reliably recovered into the recovery container 110.

[0106] Furthermore, according to the recovery system 1 of this embodiment, the dicing tool 70, which is detachably held in the holder 55, includes a frame body 71, one main blade 72, a blade support structure 73, two sub-blades 74 and 75, and blade support structures 76 and 77 that support the two sub-blades 74 and 75, respectively. Therefore, the replacement of the main blade 72 and the two sub-blades 74 and 75 can be easily performed.

[0107] Furthermore, according to the recovery system 1 of this embodiment, the two solenoid actuators 61 and 62 that move the two sub-blades 74 and 75 are supported by the retainer 55 without going through the frame body 71. Therefore, the main blade 72 and the two sub-blades 74 and 75 can be replaced without removing the solenoid actuators 61 and 62 from the retainer 55.

[0108] <Other Embodiments> This disclosure is not limited to the embodiments described above, and its configuration may be modified, added to, or deleted.

[0109] For example, in the above embodiment, a configuration comprising an X-axis feed device 52, a Y-axis feed device 53, and a Z-axis feed device 54 was described as the moving device, but the moving device is not limited thereto. As an example of a first moving structure, a structure that moves the holders 55 of the X-axis feed device 52, the Y-axis feed device 53, and the Z-axis feed device 54 was described, but the first moving structure is not limited thereto. At least one first actuator is not limited to the X-axis motor 52b, the Y-axis motor 53b, and the Z-axis motor 54b.

[0110] For example, the moving device may be a vertical articulated robot. In this case, the first moving structure is the link structure of the vertical articulated robot, and the first actuator is a servo motor provided at the joint of the vertical articulated robot. The number of first actuators may be the number of joints in the vertical articulated robot.

[0111] For example, in the above embodiment, a first blade support structure 76 and a second blade support structure 77 were described as the second moving structure, but the second moving structure is not limited to these. Also, for example, in the above embodiment, a push solenoid was described as the second actuator, but the second actuator is not limited to this. The second actuator may be a pull solenoid or a push-pull solenoid. The second actuator only needs to provide power to move the secondary blade relative to the main blade.

[0112] For example, the second actuator does not have to be a solenoid actuator. For example, the second actuator may be a rotary motor. In this case, a cam that rotates due to the rotation of the rotary motor, which is the second actuator, may be placed at the rear end of the slider or sub-blade of the blade support structure in the above embodiment, and configured to push the sub-blade according to the rotational position of the cam. In addition, although the two sub-blades are each supplied with power from two second actuators, the two sub-blades may be supplied with power from one second actuator. For example, a rotary motor, which is one second actuator, may rotate two cams, and these two cams may each move the two sub-blades.

[0113] For example, in the above embodiment, the recovery system 1 had two sub-blades 74 and 75 for one main blade 72, but the recovery system may have only one sub-blade for one main blade. For example, the recovery system may have a sub-blade facing the rake face of the main blade, but not a sub-blade facing the flank face of the main blade.

[0114] The rake face of the main blade may be a main surface facing downwards, and the relief face of the main blade may be a main surface facing upwards.

[0115] The setting stand may be configured to support the sample plate so that the surface on which the sample section is placed faces downward. Alternatively, the setting stand may be configured to support the sample plate so that the surface on which the sample section is placed is perpendicular to the horizontal plane.

[0116] The container holder 33 may be fixed or movable relative to the set stand. For example, the container holder may be configured to position the recovery container directly below the sample plate, at least during the dissection process.

[0117] In the above embodiment, the recovery system 1 included an information processing device 4, but the recovery system does not need to include part or all of the information processing device 4. The recovery system may consist only of a dicing device. In this case, a program for executing the processes from step S2 onward may be pre-stored in the memory included in the drive control device 64.

[0118] The recovery process shown in Figure 9 is merely one example. For example, if the recovery container supported by the container holder is located directly below the downward-facing sample plate, the positioning process in step S4 of Figure 9 may be omitted. Also, in the positioning process, the tip of the main blade 72 is positioned inside the recovery container 110, but for example, the tip of the main blade 72 may be positioned directly above the opening of the recovery container.

[0119] The dissection apparatus 3 does not necessarily have to include an imaging device 41. For example, the recovery system 1 may include, separately from the dissection apparatus 3, a preparation table including a holder support structure equivalent in configuration to the holder support structure 32, and an imaging device positioned above the preparation table. In other words, the location where dissection is performed may be separated from the location where images are acquired and the target area for dissection is set in the dissection apparatus 3. In this case, image data obtained by imaging multiple sample plates 100 of the sample plate holder 31 may be acquired on the preparation table, and the target area may be set. Subsequently, the image data and setting data may be stored in advance in the memory of the main control device 23 or the drive control device 64, in association with the identification information of the imaged sample plate holder 31. After setting the sample plate holder 31 in the holder support structure 32 of the dissection apparatus 3, the processing from step S2 onward may be performed using the saved setting data. In this way, by separating the area where the dicing is performed from the area where the image is acquired and the target area for dicing is set in the dicing apparatus 3, the time between the dicing of the previously set sample plate holder 31 and the dicing of the next set sample plate holder 31 can be shortened.

[0120] In the above embodiment, the drive control device 64 receives a machining program from the main control device 23 and controls the X-axis motor 52b, Y-axis motor 53b, Z-axis motor 54b, and solenoid actuators 61 and 62 based on the received machining program. However, the drive control device 64 may also receive commands for each controlled object, such as position commands and drive commands, from the main control device 23 instead of a machining program, and control each controlled object based on those commands.

[0121] Furthermore, the main control device 23 and the drive control device 64 may be configured as an integrated unit. That is, the control system that controls the recovery system 1 may be configured to execute each process by centralized control by a single device, or it may be configured to execute each process by distributed control through the cooperation of multiple devices. The multiple control devices that constitute the control system may or may not include the control device of the dicing device 3. The multiple control devices that constitute the control system may or may not include the control device of the information processing device 4.

[0122] In the above embodiment, the movement direction and range of the main blade 72 are restricted by the elongated hole H of the frame body 71, thereby restricting the movement direction and range of the pin P. However, the configuration for supporting the main blade 72 is not limited to this. The blade support structure may include a biasing member that biases the main blade in the direction from the base end to the tip end. For example, the blade support structure 72 may have an elongated hole, and the frame body 71 may have a pin that is positioned in the elongated hole. The frame body may have a stopper instead of an elongated hole to restrict the movement of the main blade 72.

[0123] In the above embodiment, the dicing tool 70, which includes one main blade 72 and sub-blade 74, 75, was detachable from the holder 55 of the moving device 50. However, the main blade and sub-blade may be removed separately from the first moving structure.

[0124] As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to these embodiments and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. It is also possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology. Two blocks shown in order in the flowchart may be executed simultaneously or in reverse order, depending on the circumstances.

[0125] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0126] The recovery program may be stored on a computer-readable storage medium. The storage medium is a non-temporary, tangible medium. The storage medium may be built into or attached to a computer (e.g., a personal computer, a mobile information terminal, a server, etc.). The storage medium may include RAM, ROM, EEPROM, storage, etc., and may be, for example, a hard disk, flash memory, an optical disc, etc. The program stored on the storage medium may be executed on a computer to which the storage medium is directly connected, or on a computer connected to the storage medium via a communication network (e.g., the Internet).

[0127] Each of the following embodiments is a disclosure of a preferred embodiment.

[0128] [Aspect 1] A set stand that supports the sample plate on which the sample section is placed, A container holder for holding a collection container for collecting target objects from the sample sections on the sample plate, The main blade and A first movable structure supports the main blade so that its tip can move along the surface of the sample plate supported on the set stand, At least one first actuator that generates power to move the main blade via the first moving structure, At least one secondary blade, A second movable structure that supports the at least one sub-blade so as to be movable with respect to the tip of the main blade, A recovery system comprising: at least one second actuator that generates power to move the at least one secondary blade via the at least one second moving structure.

[0129] According to Embodiment 1, by moving the tip of the main blade along the surface of the sample plate supported on the set stand via the first moving structure, the target object on the sample plate can be scraped off with the main blade. Furthermore, by moving the tip of the secondary blade relative to the tip of the main blade via the second moving structure, the target object adhering to the main blade can be removed from the main blade by the secondary blade. This allows for the rapid recovery of the target object on the sample plate.

[0130] [Aspect 2] The recovery system according to embodiment 1, wherein the second moving structure is configured to support the secondary blade so as to be movable parallel to the rake face of the main blade.

[0131] According to embodiment 2, since the secondary blade is movable parallel to the rake face of the main blade, it is possible to prevent the forces acting between the secondary blade and the main blade from becoming too large when the secondary blade is moved relative to the main blade.

[0132] [Aspect 3] The recovery system according to embodiment 1 or 2, wherein the at least one sub-blade includes a first sub-blade facing the rake face of the main blade and a second sub-blade facing the flank face of the main blade.

[0133] According to embodiment 3, in addition to moving the first sub-blade facing the rake face of the main blade, the second sub-blade facing the flank face of the main blade is also moved. This prevents the target object attached to the rake face from being moved from the rake face side to the flank face side at the tip of the main blade by the movement of the first sub-blade, and from remaining attached to the main blade. Therefore, the retrieval efficiency of the target object is improved compared to the case where only one sub-blade facing the rake face of the main blade is provided.

[0134] [Aspect 4] The recovery system according to any one of embodiments 1 to 3, wherein the set stand is configured to support the sample plate such that the surface on which the sample section is placed faces upward.

[0135] According to embodiment 4, with the scooping surface of the main blade facing upwards, the tip of the main blade is moved along the surface of the sample plate, making it easier for the target object to be placed on the scooping surface of the main blade.

[0136] [Aspect 5] It is further equipped with processing circuits, The aforementioned processing circuit is Controlling at least one of the first actuators to move the tip of the main blade along the surface of the sample plate to perform a dissection process to remove the target object from the sample section on the sample plate, and Controlling at least one second actuator to move relative to the tip of the main blade to perform a scraping process to scrape off the target object adhering to the tip of the main blade into the collection container, A recovery system according to any one of embodiments 1 to 4, configured to perform the following:

[0137] According to embodiment 5, the target object adhering to the main blade can be reliably and quickly recovered.

[0138] [Aspect 6] The recovery system according to embodiment 5, wherein the processing circuit is configured to perform a positioning process after the dicing process and before the scraping process, by controlling the at least one first actuator to position the tip of the main blade so that it overlaps the recovery container in a top view.

[0139] According to embodiment 6, it is not necessary to position the recovery container directly below the tip of the main blade while scraping off the target object from the sample section on the sample plate. This improves the design flexibility of the recovery system.

[0140] [Aspect 7] The setting stand supports the sample plate such that the surface of the sample plate is perpendicular or inclined with respect to the horizontal plane. The recovery system according to embodiment 5 or 6, wherein the dissection process includes controlling the at least one first actuator so that the tip of the main blade moves upward along the surface of the sample plate via the first moving structure.

[0141] According to embodiment 7, since the tip of the main blade moves upward along the surface of the sample plate, the sample section is easily placed on the scooping surface of the main blade.

[0142] [Aspect 8] The recovery system according to any one of embodiments 5 to 7, wherein the positioning process includes controlling the at least one first actuator to pass the tip of the main blade through the opening of the recovery container and position the tip of the main blade inside the recovery container.

[0143] According to embodiment 8, after positioning the tip of the main blade inside the recovery container, the target object can be scraped off from the tip of the main blade, thereby ensuring that the target object is reliably recovered into the recovery container.

[0144] [Aspect 9] The first movable structure includes a frame body on which the main blade is supported, and a retainer that detachably holds the frame body, The recovery system according to any one of embodiments 1 to 8, wherein the at least one second moving structure is supported by the frame body.

[0145] According to embodiment 9, both the main blade and at least one sub-blade can be removed integrally from the first moving structure together with the frame body. This makes it easy to replace the main blade and at least one sub-blade.

[0146] [Aspect 10] The recovery system according to embodiment 9, wherein at least one second actuator is supported by the retainer without being connected to the frame body.

[0147] According to embodiment 10, since at least one second actuator is supported by the retainer without a frame body, the frame body can be removed from the retainer without removing at least one second actuator from the retainer.

[0148] [Aspect 11] The first movable structure includes a frame body and a blade support structure that supports the main blade relative to the frame body, and the first movable structure is configured to move the main blade together with the frame body. The recovery system according to any one of embodiments 1 to 10, wherein the blade support structure includes a biasing member that biases the main blade in a direction from the base end to the tip of the main blade.

[0149] According to embodiment 11, it is possible to suppress the generation of excessive force between the sample plate and the main blade when the tip of the main blade comes into contact with the sample plate.

[0150] [Aspect 12] A system comprising at least one first actuator for generating power to move a main blade and at least one second actuator for generating power to move at least one sub-blade relative to the tip of the main blade, wherein a recovery method for recovering a target object from a sample section on a sample plate into a recovery container, Controlling at least one of the first actuators to move the tip of the main blade along the surface of the sample plate to scrape off the target object from the sample section on the sample plate, and Controlling at least one second actuator to move at least one sub-blade relative to the tip of the main blade to scrape off the target object adhering to the tip of the main blade into the collection container, A collection method that includes this.

[0151] [Aspect 13] A recovery program that causes at least one processor to execute the recovery method described in embodiment 12. [Explanation of symbols]

[0152] 1: Recovery System 3: Dissection device 10: Cabinet 23a: Processing circuit 30: Set stand 33: Container holder 50: Mobile device 51: Table 52a:X direction movable part 52b: X-axis motor 53a: Y direction movable part 53b: Y-axis motor 54a: Z direction movable part 54b: Z-axis motor 55: Retainer 56: Frame 61: Solenoid Actuator 62: Solenoid Actuator 64a: Processing circuit 70: Dissection Tool 71: Frame 72: Main blade 72a: Rake face 72b: Escape face 74: First Sub-Blade 75: Second Sub-Blade 76: 1st blade support structure 77:Second blade support structure 100: Sample plate 100a: Target surface 101: Reference sample plate 102: Sample plate for dissection 110: Collection container 110a:Aperture

Claims

1. A set stand that supports the sample plate on which the sample section is placed, A container holder for holding a collection container for collecting target objects from the sample sections on the sample plate, The main blade and A first movable structure supports the main blade so that the tip of the main blade can move along the surface of the sample plate supported on the set stand, At least one first actuator that generates power to move the main blade via the first moving structure, At least one secondary blade, A second movable structure that supports the at least one sub-blade so as to be movable with respect to the tip of the main blade, A recovery system comprising: at least one second actuator that generates power to move the at least one sub-blade via the at least one second moving structure.

2. The recovery system according to claim 1, wherein the second moving structure is configured to support the secondary blade so as to be movable parallel to the rake surface of the main blade.

3. The recovery system according to claim 1 or 2, wherein the at least one sub-blade includes a first sub-blade facing the rake face of the main blade and a second sub-blade facing the flank face of the main blade.

4. The recovery system according to claim 1 or 2, wherein the set stand is configured to support the sample plate such that the surface on which the sample section is placed faces upward.

5. It is further equipped with processing circuits, The aforementioned processing circuit is Controlling at least one of the first actuators to move the tip of the main blade along the surface of the sample plate to perform a dissection process to remove the target object from the sample section on the sample plate, and Controlling at least one second actuator to move relative to the tip of the main blade to perform a scraping process to scrape off the target object adhering to the tip of the main blade into the collection container, A recovery system according to claim 1 or 2, configured to perform the following:

6. The recovery system according to claim 5, wherein the processing circuit is configured to perform a positioning process after the dicing process and before the scraping process, by controlling the at least one first actuator to position the tip of the main blade so that it overlaps the recovery container when viewed from above.

7. The setting stand supports the sample plate such that the surface of the sample plate is perpendicular to or inclined with respect to the horizontal plane. The recovery system according to claim 5, wherein the dissection process includes controlling the at least one first actuator so that the tip of the main blade moves upward along the surface of the sample plate via the first moving structure.

8. The recovery system according to claim 5, wherein the positioning process includes controlling the at least one first actuator to pass the tip of the main blade through the opening of the recovery container and position the tip of the main blade inside the recovery container.

9. The first movable structure includes a frame body on which the main blade is supported, and a retainer that detachably holds the frame body, The recovery system according to claim 1 or 2, wherein the at least one second moving structure is supported by the frame body.

10. The recovery system according to claim 9, wherein the at least one second actuator is supported by the retainer without being connected to the frame body.

11. The first movable structure includes a frame body and a blade support structure that supports the main blade relative to the frame body, and the first movable structure is configured to move the main blade together with the frame body. The recovery system according to claim 1 or 2, wherein the blade support structure includes a biasing member that biases the main blade in a direction from the base end to the tip of the main blade.

12. A system comprising at least one first actuator for generating power to move a main blade and at least one second actuator for generating power to move at least one sub-blade relative to the tip of the main blade, wherein a recovery method for recovering a target object from a sample section on a sample plate into a recovery container, Controlling at least one of the first actuators to move the tip of the main blade along the surface of the sample plate to scrape off the target object from the sample section on the sample plate, and Controlling at least one second actuator to move at least one sub-blade relative to the tip of the main blade to scrape off the target object adhering to the tip of the main blade into the collection container, A collection method that includes this.

13. A recovery program that causes at least one processor to execute the recovery method described in claim 12.

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