Systems and methods for blade management of a robotic microtomy system

Abstract

Various examples, systems, and methods relate to blade management of a robotic microtomy system. A system can include a member having a magnetic surface and a robotic subsystem including the member. The member can be configured to cause the member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure, cause the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure, and cause the member to move in a direction that causes the second structure to exert a force on the blade causing the blade to detach from the member.

Description

SYSTEMS AND METHODS FOR BLADE MANAGEMENT OF A ROBOTIC MICROTOMY SYSTEMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Indian Provisional Patent Application No. 202411070938, filed September 19, 2024, Indian Provisional Patent Application No. 202411070975. filed September 19, 2024, Indian Provisional Patent Application No. 20241 1071014, filed September 19, 2024, Indian Provisional Patent Application No. 202411021694, filed March 21, 2024, the disclosures of which are incorporated herein by reference in its entirety and for all purposes.BACKGROUND

[0002] Microtomy is a technique for preparing thin tissue sections for microscopic examination. Microtomy allows for the detailed visualization of tissue structures for diagnosis, research, and education.SUMMARY

[0003] Implementations of the present disclosure relate to systems and methods for blade management of a robotic microtomy system. According to at least one aspect of the current disclosure, a system can include a member having a magnetic surface and a robotic subsystem including the member. The robotic subsystem can be configured to cause the member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure. The robotic subsystem can cause the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure. Tire robotic subsystem can cause the member to move in a direction that causes a second structure to exert a force on the blade causing the blade to detach from the member.

[0004] In some implementations, the member can have a first inclination angle that matches a second inclination angle at which the blade is stored in the first structure. The second structure can exert a shearing force on the blade as the member moves in the direction. The member can include a resting surface transverse to the magnetic surface to accommodate a first side of tire blade.

[0005] In certain implementations, the system can include a spring configured to push the blade against a surface of the second structure. The second structure can include a resting surface that exerts the force on the blade causing the blade to detach from the member and wherein the spring can push the blade against the resting surface of the second structure.

[0006] In some implementations, the member can include a plurality of arms, each arm having a respective magnetic surface. Each arm of the plurality of arms can include a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade. Tire respective resting surfaces of the plurality of amis can be aligned with each other.

[0007] In certain implementations, a third structure can exert a clamping force on the blade using the spring. The third structure can be unclamped from the blade using a motor. The third structure can have a width that is less than a length of the blade such that when the blade is inserted in a slot defined by the second structure, a portion of the blade can extend beyond the width of the third structure.

[0008] In some implementations, the robotic subsystem can cause the member to move towards the blade such that the magnetic surface of the member can magnetically couple to the portion of the blade extending beyond the width of the third structure. The robotic subsystem can move the blade to a blade storage device including one or more blade storage slots. Tire portion of the blade can be a first portion. The second member can contact the blade along a second portion of the blade, the second portion can be used to cut sections from one or more tissue blocks. The magnetic surface can include a permanent magnet.

[0009] A method can include causing, by a robotic subsystem including a member having a magnetic surface, the member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure . The method can include causing, by the robotic subsystem, the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure. The method can include causing the member to move in a direction such that the second structure exerts a force on the blade causing the blade to detach from the member.

[0010] In certain implementations, the method can include the member to have a first inclination angle that matches a second inclination angle at which the blade is stored in the first structure. The second structure can exert a shearing force on the blade as the member moves in the direction. The member can include a resting surface transverse to the magnetic surface to accommodate a first side of the blade.

[0011] In some implementations, the method can include a spring configured to push the blade against a surface of the second structure. Hie second structure can include a resting surface that exerts the force on the blade causing the blade to detach from the member and wherein the spring can push the blade against the resting surface of the second structure.

[0012] In some implementations, the method can include the member that has a plurality of arms, each arm having a respective magnetic surface. Each arm of the plurality of arms can include a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade. The respective resting surfaces of the plurality of arms can be aligned with each other. A third structure can exert a clamping force on the blade using the spring. The third structure can be unclamped from the blade using a motor. The third structure can have width that is less than a length of the blade such that when the blade is inserted in a slot defined by the second structure, a portion of the blade can extend beyond the width of the third structure. The method can include causing, by the robotic subsystem, the member to move towards the blade such that the magnetic surface of the member magnetically couples to the portion of the blade extending beyond the width of the third structure. Hie robotic subsystem can move the blade to a blade storage device including one or more blade storage slots. The portion of the blade can be a first portion and wherein the second member can beconfigured to contact the blade along a second portion of the blade, the second portion used to cut sections from one or more tissue blocks. The magnetic surface can include a permanent magnet.

[0013] At least one aspect is directed to a system, method, apparatus, or a computer-readable medium of the following. A system can include one or more processors coupled to memory. Hie system can interrupt a sectioning process performed by a cutting subsystem responsive to determining to replace a first blade with a second blade. The system can cause, responsive to detennining to replace the first blade with the second blade, the first blade to be moved from a blade holder to a first blade storage container. The system can cause the second blade to be moved from a second blade storage container and secured at the blade holder to complete the sectioning process. The system can cause, responsive to determining to initiate a facing process for a second tissue block, the first blade to be moved from the first blade storage container and secured at the blade holder. The system can initiate the facing process using the first blade.

[0014] In some implementations, the system can include the first blade storage container and the second blade storage container; the blade holder; the tissue block holder; and the cutting subsystem that can cause the blade holder and the tissue block holder to move relative to one another to cause the first blade to generate sections from the first tissue block.

[0015] The system can include at least one camera to capture one or more images of one or more sections cut from the first tissue block, and wherein the one or more processors can determine to replace the first blade with the second blade based on the one or more images. The first blade storage container and the second blade storage container can be part of the same blade storage container. The first blade storage container can be different from the second blade storage container.

[0016] In certain implementations, the first blade storage container stores blades that can be used in facing processes for facing tissue blocks. The second blade storage container stores blades that can be used in sectioning processes for sectioning tissue blocks.

[0017] In some implementations, the system can include a swap station including at least two slots for receiving at least two blades. The one or more processors can cause, responsive to determining to replace the first blade with the second blade, the second blade to be moved from the second blade storage container to the swap station. Tire one or more processors can cause, responsive to determining to replace the first blade with the second blade, the first blade to be moved from the blade holder to the swap station. The one or more processors can cause the second blade to be moved from the swap station and secured at the blade holder to complete the sectioning process. The one or more processors can cause the first blade to be moved from the swap station to the first blade storage container.

[0018] In some implementations, a first robotic device can move blades between the blade holder and the swap station. A second robotic device can move blades between the swap station and at least one of the first blade storage container or the second blade storage container. Movement of the second blade from the second blade storage container to the swap station can overlap in time with movement of the first blade from the blade holderto the swap station. Movement of the second blade from the swap station to the blade holder can overlap in time with movement of the first blade from the swap station to the first blade storage container.

[0019] In certain implementations, movement of the second blade from the second blade storage container to the blade holder can overlap in time with movement of the first blade from the blade holder to the first blade storage container.

[0020] The one or more processors can be further configured to cause, responsive to completion of the facing process for the second tissue block, the first blade to be moved from the blade holder to a third blade storage container designated to store blades to be disposed of.

[0021] A method can include interrupting, by one or more processors coupled to memory, a sectioning process performed by a cutting subsystem responsive to determining to replace a first blade with a second blade. Hie method can include causing, by the one or more processors, responsive to determining to replace the first blade with the second blade, the first blade to be moved from a blade holder to a first blade storage container. The method can include causing, by the one or more processors, the second blade to be moved from a second blade storage container and secured at the blade holder to complete the sectioning process. The method can include causing, by the one or more processors, responsive to determining to initiate a facing process for a second tissue block, the first blade to be moved from the first blade storage container and secured at the blade holder. The method can include initiating, by the one or more processors, the facing process using the first blade.

[0022] In certain implementations, the method can include the first blade storage container and the second blade storage container, the blade holder, the tissue block holder, and the cutting subsystem. The cutting subsystem can cause the blade holder and the tissue block holder to move relative to one another to cause the first blade to generate sections from the first tissue block. Tire method can include at least one camera that can capture one or more images of one or more sections cut from the first tissue block. Hie one or more processors can determine to replace the first blade with the second blade based on the one or more images. The first blade storage container and the second blade storage container can be part of the same blade storage container. The first blade storage container can be different from the second blade storage container.

[0023] In certain implementations, the method can include that the first blade storage container can store blades that can be used in facing processes for facing tissue blocks. Hie second blade storage container stores blades that can be used in sectioning processes for sectioning tissue blocks.

[0024] In some implementations, the method can include a swap station including at least two slots for receiving at least two blades. Hie method can include causing, by the one or more processors, responsive to determining to replace the first blade with the second blade, the second blade to be moved from the second blade storage container to the swap station. Hie method can include causing, responsive to determining to replace the first blade with the second blade, the first blade to be moved from the blade holder to the swap station. The method can include causing the second blade to be moved from the sw ap station and secured at theblade holder to complete the sectioning process. The method can include causing the first blade to be moved from the swap station to the first blade storage container.

[0025] In some implementations, tire method can include a first robotic device that can move blades between the blade holder and the swap station. Tire method can include a second robotic device that can move blades between the swap station and at least one of the first blade storage container or the second blade storage container. Movement of the second blade from the second blade storage container to the swap station can overlap in time with movement of the first blade from the blade holder to the swap station. Movement of the second blade from the swap station to the blade holder can overlap in time with movement of the first blade from the swap station to the first blade storage container. Movement of the second blade from the second blade storage container to the blade holder can overlap in time with movement of the first blade from the blade holder to the first blade storage container. Tire method can include causing, responsive to completion of the facing process for the second tissue block, the first blade to be moved from the blade holder to a third blade storage container designated to store blades to be disposed of.

[0026] According to at least one aspect, a system can include a block handling assembly configured to hold a tissue block. The system can include a blade handling assembly configured to hold a blade. The system can include a robotic subsystem coupled to the blade handling assembly and the block handling assembly. Tire robotic system can cause movement of the block handling assembly to move a tissue block from a first block position to a second block position and can cause movement of the blade handling assembly to move a blade from a first blade position to a second blade position.

[0027] In some implementations, the robotic subsystem can include at least one robotic arm to which the blade handling assembly and the block handling assembly are coupled. Tire system can include a camera coupled to the robotic arm. The system can include a section manipulator coupled to the robotic arm to move a section cut from a tissue block handled by the block handling assembly.

[0028] In some implementations, the system can include a slide handling assembly coupled to the robotic arm to move a slide to pick up a section cut from a tissue block handled by the block handling assembly.

[0029] In some implementations, tire robotic subsystem can cause movement of the block handling assembly to move a tissue block from a first block position to a second block position during a block handling operation during a first time period. The robotic subsystem can cause movement of the blade handling assembly to move a blade from a first blade position to a second blade position during a blade change operation during a second time period.

[0030] According to at least one aspect, a method can include holding a tissue block by a block handling assembly. The method can include holding a blade by a blade handling assembly. The method can include coupling a robotic subsystem to the blade handling assembly and the block handling assembly and causing, by the robotic subsystem, movement of the block handling assembly to move a tissue block from a first blockposition to a second block position. The method can include causing, by the robotic subsystem, movement of the blade handling assembly to move a blade from a first blade position to a second blade position.

[0031] In some implementations, the robotic subsystem can include at least one robotic arm to which the blade handling assembly and the block handling assembly are coupled. The method can include coupling a camera to the robotic arm.

[0032] In some implementations, the method can include coupling a section manipulator to the robotic arm to move a section cut from a tissue block handled by the block handling assembly. The method can include coupling a slide handling assembly to the robotic arm to move a slide to pick up a section cut from a tissue block handled by the block handling assembly. The method can include causing, by the robotic subsystem, movement of the block handling assembly to move a tissue block from a first block position to a second block position during a block handling operation during a first time period.

[0033] In some implementations, the method can include causing, by the robotic subsystem, movement of the blade handling assembly to move a blade from a first blade position to a second blade position during a blade change operation during a second time period.

[0034] According to at least one aspect, a system can include one or more processors and a memory' storing executable instructions. The executable instructions, when executed by the one or more processors, can cause the one or more processors to receive from each microtomy system of a plurality of microtomy systems, a state of the microtomy system. The state of the microtomy system can correspond to at least one of a first state in which the microtomy system is performing an autonomous tissue cutting process and a second state in which the microtomy system has completed the autonomous tissue cutting process and awaiting assignment to a computer device for a semi-automated tissue cutting process. The one or more processors can assign, responsive to determining that the microtomy system is in the second state, the microtomy system to a computer device of a plurality of computer devices, and cause, responsive to assigning the microtomy system to the computer device, data from the microtomy system to be presented on an interface at the computer device and to allow the computer device to control the operation of the microtomy system.

[0035] In some implementations, the one or more processors are further configured to update, in one or more data structures, an availability of the computer device from a first availability status indicating that the computer device is available for assignment to a second availability status indicating the computer device is unavailable for assignment. The one or more processors can further detenuine that the state of the microtomy system has changed from the second state to a third state in which the microtomy system has completed the semi -automated tissue cutting process, and update, responsive to determining that the microtomy system is in the third state, an availability status of the computer device to the first availability status.

[0036] Tire microtomy system may be a first microtomy system and the one or more processors can further determine that a state of second microtomy system of tire plurality of microtomy systems has changed from tire first state to the second state, assign, to the computer device, the second microtomy system responsive todetermining that the availability status of the computer device is the first availability status, and update the availability status of the computer device to the second availability status.

[0037] Hie computing device may be a first computing device and the one or more processors can determine that the state of a third microtomy device is at the second state; select, from the plurality of computer devices, a second computer device based on the first computer device having the second availability status and the second computer device having the first availability status; assign, to the second computer device, the third microtomy device; cause, responsive to assigning the third microtomy system to the second computer device, data from the third microtomy system to be presented on an interface at the second computer device and to allow the second computer device to control the operation of the third microtomy system; and update the availability status of the second computer device to the second availability status responsive to assigning the third microtomy device to the second computer device.

[0038] In some implementations, the interface at the computer device can include a first image obtained from a first camera and a second image obtained from a second camera. The first image can be an image of a section of tissue cut by the microtomy system and the second image can be an image of a tissue block from which the section of tissue was cut. The interface can include a plurality of microtomy system control elements to control cutting parameters associated with the semi-automated tissue cutting process. The plurality of control elements can include a first element, which when selected, causes the microtomy system to cut a section of a tissue block loaded in the microtomy system and a second element, which when selected, causes the microtomy system to terminate the semi-automated tissue cutting process.

[0039] In some implementations, the interface can include a grossing notes region that includes information relating to the specimen included in a tissue block to be cut by the microtomy system. In some implementations, the interface can include a sectioning configuration region identifying at least one of a number of slides to use to collect sections and a thickness of the sections.

[0040] According to at least one aspect, a system can include one or more processors and a memory storing executable instructions. Hie executable instructions, when executed by the one or more processors, can cause the one or more processors to determine that a microtomy system of a plurality of microtomy systems is at a first state among a plurality of states; assign, responsive to determining that the microtomy system is at the first state, the microtomy system to a computer device of a plurality of computer devices; and cause, responsive to assigning the microtomy system to the computer device, data associated with an operation of the microtomy system to be provided to the computer device, the computer device configured to control the operation of the microtomy system based on the data received from the microtomy system.

[0041] According to at least one aspect, a system can include one or more processors and a memory storing executable instructions. Hie executable instructions, when executed by the one or more processors, can cause the one or more processors to monitor states of a plurality of microtomy systems; provide indications of the states of the plurality of microtomy systems to a plurality of computer devices; assign, responsive to amicrotomy system of the plurality of microtomy systems being at a first state, the microtomy system to a computer device of a plurality of computer devices; and cause, responsive to assigning the microtomy system to the computer device, data associated with an operation of the microtomy system to be provided to the computer device, the computer device configured to control tire operation of the microtomy system based on the data received from the microtomy system.BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The foregoing and other objects, aspects, features, and advantages of the disclosure will become more apparent and better understood by referring to the following description taken in conjunction with the accompanying drawings. Hie present systems and methods for blade management of a robotic microtomy system are described in detail below with reference to the accompanying drawings, wherein:

[0043] FIG. 1 is a block diagram of a microtomy system, according to an example implementation of the current disclosure.

[0044] FIGS. 2A-2D depict various perspective views of a robotic implementation of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0045] FIG. 2E depicts a perspective view of another robotic implementation of the microtomy system of FIG.1, according to an example implementation of the current disclosure.

[0046] FIGS. 2F-2G depict various views of robotic subsystems within the microtomy system, including robotic arms configured for handling tissue blocks, slides, and / or blades, according to an example implementation of the current disclosure.

[0047] FIG. 3 shows various views of a tissue block, according to an example implementation of the current disclosure.

[0048] FIG. 4 is a flow chart of a microtomy method performed by the microtomy system of FIG. 1. according to an example implementation of the current disclosure.

[0049] FIGS. 5A and 5B depict different views of a blade pathway system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0050] FIG. 5C depicts a robotic blade handling system within the microtomy system, including a block-blade robotic arm, blade holders, and a blade transfer mechanism, according to an example implementation of the current disclosure.

[0051] FIGS. 6A-6C depict various aspects of a blade storage system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0052] FIGS. 7A-7D depict various aspects of a blade I / O subsystem of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0053] FIGS. 8A-8D depict various aspects of a transport subsystem of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0054] FIG. 9 depicts an automated blade clamping system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0055] FIGS. 10A-10C show various views of a blade holder with a blade clamped thereon, according to an example implementation of the current disclosure.

[0056] FIG. 11 depicts different views of a blade, according to an example implementation of the current disclosure.

[0057] FIG. 12 depicts consistent arrangement or positioning of blades at an inclined angle in various components or devices of the blade pathway system, according to an example implementation of the current disclosure.

[0058] FIGS. 13A and 13B depict a match between the inclined angle according to which the blades are arranged or positioned in the various components or devices of the blade pathway system and an inclination angle of magnetic surfaces of blade carriers, according to an example implementation of the current disclosure.

[0059] FIGS. 14A-14C depict a process of picking up and removing a blade from the blade storage system, according to an example implementation of the current disclosure.

[0060] FIGS. 15A-15D depict a process of un-gripping or releasing a blade in the blade storage system, according to an example implementation of the current disclosure.

[0061] FIGS. 16A-16C depict a process of un-gripping or releasing a blade at a disposal storage device, according to an example implementation of the current disclosure.

[0062] FIGS. 16D-16F depict a process for un-gripping and releasing a blade into a disposal storage device, including movement of a blade carrier into position beneath a structural component that facilitates detachment of the blade, according to an example implementation of the current disclosure.

[0063] FIGS. 17A-17D depict horizontal alignment of blades within the blade storage system, according to an example implementation of the current disclosure.

[0064] FIGS . 17E- 17H depict a two-step process for horizontally aligning a blade within a blade carrier using controlled displacement against an aligner wall, according to an example implementation of the current disclosure.

[0065] FIG. 18 depicts a flow diagram of a method of picking up and releasing a blade, according to an example implementation of the current disclosure.

[0066] FIGS. 19A depicts a perspective view of a section pathway system, according to an example implementation of the current disclosure.

[0067] FIG. 19B shows an image of a section with knife lines.

[0068] FIG. 20A depicts a flowchart of a method for knife lines detection, according to an example implementation of the current disclosure.

[0069] FIG. 20B depicts a flowchart of a method for section compression detection, according to an example implementation of the current disclosure.

[0070] FIGS. 21 A-21C depict a process of shifting a blade to switch a respective cutting region of the blade, according to an example implementation of the current disclosure.

[0071] FIG. 22 depicts a flow diagram of a method for managing blade replacement, according to an example implementation of the current disclosure.

[0072] FIGS. 23A-23B depict various perspective views of a feeder transport subsystem, according to an example implementation of the current disclosure.

[0073] FIG. 24 depicts perspectives views of a carrier device including a block carrier and a blade carrier, according to an example implementation of the current disclosure.

[0074] FIGS. 25A-25D show a sequence of images depicting transport of a tissue block by the carrier device of FIG. 24 between various robotic subsystems of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0075] FIGS. 26A-26K depict various stages of a blade handling and exchange process, according to an example implementation of the current disclosure.

[0076] FIG. 27 illustrates a flow diagram of a method of carrying tissue blocks and blades by the carrier device, according to an example implementation of the current disclosure.

[0077] FIGS . 28A -28D depict various perspective views of a robotic implementation of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0078] FIG. 28E depicts a perspective view of another robotic implementation of tire microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0079] FIG. 29 shows various views of a tissue block, according to an example implementation of the current disclosure.

[0080] FIG. 30 is a flow chart of a microtomy method perfonned by the microtomy system of FIG. 1 , according to an example implementation of the current disclosure.

[0081] FIG. 31 is a block diagram of a microtomy controlling system, according to an example implementation of the current disclosure.

[0082] FIG. 32 shows an implementation of a multi -microtomy system, according to an example implementation of the current disclosure.

[0083] FIG. 33A is a schematic illustration of a centralized microtomy controlling system, according to an example implementation of the current disclosure.

[0084] FIG. 33B is a block diagram of a distributed microtomy controlling system, according to an example implementation of the current disclosure.

[0085] FIGS. 34A-34C show various snapshots of a user interface for monitoring and controlling microtomy systems of FIG. 1, according to an example implementation of the current disclosure.DETAILED DESCRIPTION

[0086] This disclosure relates to systems and methods for configuring, executing, and evaluating retrieval - augmented generation (RAG) pipelines using a modular framework that supports adaptive processing configurations. For example, systems and methods in accordance with the present disclosure facilitate dynamic selection of retrieval, ranking, and / or generation models based on structured pipeline configurations. These configurations can specify pipeline components (e.g.. retriever models, rerankers, large language models) and / or allow processing configurations to be modified with

[0087] Below are detailed descriptions of various concepts related to, and implementations of, techniques, approaches, methods, apparatuses and / or systems for automated microtomy systems. The various concepts introduced above and discussed in greater detail below may be implemented in any of numerous ways, as the described concepts are not limited to any particular manner of implementation. Examples of specific implementations and applications are provided primarily for illustrative purposes.A. Overview of Microtomy

[0088] Histopathology examination of tissue samples involves the examination of tissues or cells under a microscope to diagnose or study diseases of the tissues. Tire procedure typically starts with surgery, biopsy, or autopsy to extract a tissue sample from a subject and ends with microscopy when one or more relatively thin sections of the tissue samples are examined under the microscope. Various tissue processing steps or processes are performed after the extraction of the tissue sample and before the examination under the microscope. The various steps or processes associated with a histopathology procedure can be described as follows.

[0089] First, a surgeon can remove or extract a tissue sample or a piece of tissue from an anatomical region of a subject. For example, the anatomical region may be a region suspected to have a relatively high probability’ of cancerous growth. The removed tissue sample may be referred to as a biopsy. Hie goal is to microscopically analyze a cross section of the removed tissue sample to look for cellular structures and / or other structures indicative of tissue disease symptoms.

[0090] A second step or process is referred to as fixation and it involves submerging the tissue sample in a chemical known as Formalin. Formalin stops all cell processes while retaining the cellular structure of the tissue sample. After this step, the tissue sample is said to have been “fixed,” referring to its configuration being retained in time and space.

[0091] A third step or process is referred to as grossing, which involves dissecting the tissue sample with a knife to choose a portion of the tissue sample. This grossing process is typically done by a qualified personnel, e.g., a grossing pathologist. The grossing pathologist cuts the tissue sample down to a thickness of about 4 mm and to a length and breadth resulting in a size which can be mounted on a slide. Tire slide can have a size of 25 mm by 75 mm.

[0092] The next step is called “processing” and includes a series of sub-steps to remove water content from the tissue and replace it with paraffin wax. The tissue sample contains water and formalin in between the cellularstructures. This water is replaced with paraffin wax. Tn order to do that, the tissue is sequentially submerged in different liquids. A last sub-step is known as infiltration and involves sequentially submerging the tissue sample in containers of molten paraffin wax, which enters the tissue and replaces xylene. Tissue is infiltrated by wax, as the entire tissue sample is then embedded in a wax mold, which is then cut. The wax provides structural support during cutting.

[0093] After the processing step, the tissue sample is embedded in a mold with paraffin wax. During embedding, a histo-technician can place a thin layer of molten wax in a mold, place the tissue sample in the molten wax and rapidly cool the molten wax layer to preserve its orientation. After the cooling of the molten wax layer, the technician can fill the entire mold with molten wax to form a wax block in which the tissue sample is embedded, and place a cassette on top of tire added molten wax to create a rigid backing for the wax block. Hie combination of the wax block, the tissue sample embedded within the wax block, and the cassette is referred to hereinafter as the tissue block or the tissue block assembly. The cassette provides a means for holding the tissue block during microtomy without damaging the wax block or the tissue sample embedded therein. The technician can cool the tissue block and remove it from the mold.

[0094] Once the tissue block is removed from the mold, the microtomy process can start. The microtomy process can include facing, cooling and re-hydrating the tissue block and sectioning. Facing is a sub-process or a step of the microtomy process and involves cutting relatively thick sections or slices of the tissue block (or the wax block) to expose the tissue region or a cross section of the tissue sample embedded in the wax block. During the facing process, multiple sections can be cut from the wax block embedding the tissue sample. With every cut, a section having a thickness of 20 to 30 microns can be removed from the wax block. Typically, a total thickness of 400-700 pm can be removed from the wax block before the desired tissue surface is exposed.

[0095] Once facing is complete, the tissue block can be cooled and re-hydrated. The cooling and re-hydration process allows for proper sections of the tissue block to be cut during the sectioning process. Tissue samples are prone to be excessively dehydrated because the protocols for ‘'processing” are typically optimized for a particular thickness of tissue (typically 4 mm). If the tissue sample is thinner than 4 mm, the tissue can get overdehydrated and become prone to crambling if not rehydrated prior to taking thin sections. To overcome this problem, tissue blocks are typically rehydrated prior to sectioning. The rehydration is combined with a chilling or cooling process. Also, cooling makes the wax hard enough to achieve a clean cut of sections that are free of compression. Without cooling the tissue block and consequently making the wax hard, sections cut from the tissue block usually come out with wrinkles, which are not desirable as they prevent reliable examination of the sections under the microscope.

[0096] Tire sectioning process includes cutting relatively thin sections, e.g., with a thickness of 3-5 pm, of a tissue block to be examined under a microscope. Tire sections cut from the tissue block can be placed on corresponding slides for examination under the microscope. Tire sections placed on the slides can be dried and stained before the microscopy examination.B. Robotic Microtomy System

[0097] Referring to FIG. 1. a block diagram of a microtomy system 100 is shown, according to an example implementation of the current disclosure. In brief overview, the microtomy system 100 can include a block pathway system 102, a section pathway system 104, a slide pathway system 106, a blade pathway system 108, a liquid pathway system 110, one or more processors 112 and a memory 114. The microtomy system 100 can be viewed as a robotic system that can receive one or more tissue blocks, one or more blades and one or more slides, and perform a microtomy process on the one or more tissue blocks using the one or more blades and the one or more slides. In particular, the microtomy system 100 is configured to perform facing, chilling and rchydration, and sectioning the tissue block(s). Upon cutting thin sections for examination under a microscope, the microtomy system 100 is configured to place the cut section(s) on the one or more slides. Each slide carrying one or more sections can be placed under a microscope to examine the corresponding section(s).

[0098] At a high level, the microtomy system 100 can be viewed as an automated system configured to receive tissue blocks, new blades and empty slides as input and provide slides with sections of the tissue blocks placed thereon as output. Tire microtomy system 100 can be configured to distinguish or identify, for each tissue block, which slides are used to carry sections corresponding cut from the tissue block. The microtomy system 100 can include one or more cameras to capture images at one or more stages of the microtomy process, e.g., to be displayed on a display device or a computing device communicatively coupled to the microtomy system 100. The microtomy system 100 can include one or more sensors to monitor or detect positions or states of one or more components of the microtomy system 100.

[0099] Tire microtomy system 100 is configured to manage, process and / or transport (e.g., automatically) five different elements, which are the tissue blocks, the sections cut from the tissue blocks, the slides to carry sections of the tissue blocks, the blades used to cut the sections, and liquid(s) used for various purposes during the microtomy process. Each of the pathway systems 102, 104. 106, 108 and 110 are configured to manage (e.g., automatically, sequentially, in real-time and / or near real-time), process, and / or transport a corresponding element of these five elements.

[0100] As used herein, “automatically” refers to operations executed without direct manual intervention, where system components perfonn actions based on predefined sequences, programmed logic, sensor feedback, external control inputs, or a combination thereof. Automatic operations can involve mechanical actuation (e.g., robotic arms, conveyor systems, linear actuators), electronic control (e.g.. processing circuits executing stored instructions, microcontrollers regulating movement and positioning), or data-driven decision-making (e.g., vision-based detection, sensor-based alignment, algorithmic process optimization). Hie term can also encompass scheduled or event-driven processes (e.g., sectioning after block positioning, blade replacement upon wear detection, liquid dispensing based on sectioning stage) and can be executed continuously, intennittently, and / or in response to external conditions. Automatic operations can be localized withinindividual subsystems and / or coordinated across multiple components through centralized or distributed control mechanisms.

[0101] As used herein, “subsystem” refers to a functional component within a larger system that operates through a combination of mechanical, electrical, computational, and control elements. A subsystem can perform distinct tasks within an integrated workflow, interacting with other subsystems through data exchange (e.g., sensor feedback, networked commands), physical movement (e.g.. transport mechanisms, actuation), or process coordination (e.g., synchronized timing, hierarchical task execution). A subsystem can include hardware (e.g., actuators, sensors, processing circuits), software algorithms (e.g., control logic, state estimation, error correction), and communication protocols (e.g., message queuing, shared memory access, real-time control buses) that collectively contribute to automated or semi-automated functionality.

[0102] As used herein, “robotic subsystems” refer to subsystems that incorporate controlled motion and automation capabilities, including robotic arms (e.g., articulated, SCARA, delta), gantry systems (e.g., linear positioning stages, overhead transport), precision conveyors (e.g., belt-driven, magnetic levitation), and multiaxis manipulators (e.g., parallel kinematics, hybrid serial-kinematic structures). Robotic subsystems can function independently or in coordination with other system components, executing predefined sequences (e.g., pick-and-place routines, positioning adjustments, path-following), dynamically adjusting to sensor feedback (e.g., force monitoring, vision-based alignment, torque control), and communicating with supervisory control systems (e.g., centralized automation controllers, distributed processing units, cloud-integrated diagnostics). These robotic subsystems facilitate process automation by regulating movement trajectories, force application, and environmental interactions while interfacing with broader system architectures for synchronized operation across multiple functional domains.

[0103] For example, the block pathway system 102 is configured to automatically manage or control the storage and transport of tissue blocks within the microtomy system 100. As described in further detail below, the block pathway system 102 can include a block storage system 201 to store a plurality of tissue blocks and one or more robotic subsystems to carry or transport tissue blocks between the block storage system 201, a chilling station 210 for cooling the tissue blocks 203 and / or a cutting assembly (e.g., cutting assembly 528) for cutting sections of tire tissue blocks 203 during facing and / or sectioning.

[0104] In some implementations, the blade pathway system 108 includes a blade storage subsystem (e.g., blade storage system 502) configured to store a plurality of blades, a blade transport subsystem (e.g., blade transport gantry 520) configured to carry or transport blades between compartments of the blade storage subsystem and a cutting assembly, and a blade holder within the cutting assembly configured to secure a blade for sectioning operations. Tire blade storage subsystem can include a blade loading capacity indicative of the maximum number of blades that can be stored within the microtomy system 100. The blade pathway system 108 can include a blade clamping system 218 configured to secure or unsecure a blade within the cutting assembly . Theblade pathway system 108 can be configured to monitor a cutting quality of a blade used for sectioning operations and automatically replace or shift the blade based on the determined cutting quality.

[0105] Tire section pathway system 104 is configured to perform tissue block facing, tissue block chilling and / or tissue block sectioning. The tissue block facing process can include automatically and / or semi- automatically cutting sections of the tissue blocks 203 to trim the wax block and reach or expose an "‘acceptable” cross section of the tissue sample embedded in the wax. The chilling process includes cooling the tissue blocks 203 before sectioning so that the hardness of the wax matches the hardness of the tissue sample embedded inside the wax block. This ensures that the cutting blade does not suffer a jerk when transitioning from wax to tissue and in turn leads to dcfcct-frcc sections. The sectioning process includes cutting relatively thin sections, e.g., 3-5 pm thick sections, to be used for examination under a microscope. The section pathway system 104 can include monitoring or assessment mechanisms to assess the quality of sections cut by the cutting assembly.

[0106] The slide pathway system 106 is configured to automatically manage or control the storage and transport of slides within the microtomy system 100. As described in further detail below, the slide pathway system 106 can include a slide storage system to store a plurality of slides and one or more robotic subsystems to cany’ or transport the slides and to pick up or place sections cut from the tissue blocks on the slides.

[0107] The blade pathway system 108 is configured to automatically manage or control the storage and transport of blades within the microtomy system 100. As described in further detail below, the blade pathway system 108 can include a blade storage system to store a plurality of blades and one or more robotic subsystems to carry or transport blades between compartments of the blade storage system and / or the cutting assembly. The blade pathway system 108 can be configured to automatically secure a blade within the cutting assembly to cut sections of the tissue blocks. The blade pathway sy stem 108 can be configured to automatically monitor the cutting quality of a blade used to cut sections of a tissue block and automatically replace or shift the blade based on the respective cutting quality.

[0108] The liquid pathway system 110 can be configured to provide one or more liquids and manage or control parameters of the one or more liquids, which are used for various reasons within the microtomy system 100. The liquid(s) can be used as a transfer medium for sections cut from the tissue blocks, a heating medium for the sections to cause section de-wrinkling, a cleaning medium for the slides or components of the microtomy system 100, a cooling medium for tissue blocks, blades and / or sections, and / or as refrigerant for the source of circulating chilled liquid used for chilling.

[0109] The liquids provided and / or managed by the liquid pathway system 110 can include de-ionized water and / or de-ionized water mixed with chemicals or substances. One advantage of de-ionized water is that it does not contain any dissolved salts, which can cause build-up of salts and damage the microtomy system 100 or components thereof over time. The liquid pathway system 110 can provide or cause flow of cold water, e.g., about 4 degrees Celsius and / or a range, such as 2 to 6 degrees Celsius, for use as a transfer medium for sections cut from the tissue blocks and as a cooling medium during facing and / or sectioning. The liquid pathway system1 10 can provide or cause flow of cold mixture of Glycerin and water, e.g., about -5 degrees Celsius and / or a range, such as -3 to -7 degrees Celsius, for use as a chilling medium for cooling the tissue blocks. The liquid pathway system 110 can provide or cause flow of warm or hot water, e.g., about 50 degrees Celsius and / or a range, such as 30-70 degrees Celsius, for use as a de-wrinkling medium for sections. The liquid pathway system 110 can provide a refrigerant for cooling down water (or other liquid) and / or reducing the temperature of the water.

[0110] The one or more processors 1 12 can be configured to trigger and / or control actions of various components of the microtomy system 100. For example, the one or more processors 112 can be configured to control various robotic subsystems of the microtomy system 100. The one or more processors 112 can be configured to assess and / or analyze sensor data obtained from various sensors and / or image data captured by one or more cameras of the microtomy system 100, and take decisions with regard to controlling and / or actuating various components or subsystems of the microtomy system 100. The one or more processors 112 can trigger, manage and / or control display of data, e.g., image data and / or sensor data, generated by the microtomy system 100 on a display device or a computing device communicatively coupled to the microtomy system 100. Tire one or more processors 112 can be configured to perform or facilitate performance of methods described herein.[OHl] The memory 114 can store executable instructions to be executed by the one or more processors 112. The executable instructions can include instructions, which when executed by at least a processor of the one or more processors, cause performance of any of the functions, tasks or methods described herein.

[0112] Referring now to FIGS. 2A-2D, various views of a robotic implementation of the microtomy system 100 are shown, according to an example implementation. In particular, the robotic implementation of the microtomy system 100 includes various robotic systems, sub-systems and / or devices to automate pathways and / or functions associated with the tissue blocks, the sections cut from the tissue blocks, the slides to carry sections of the tissue blocks, the blades used to cut the sections, and the liquid(s) used for various purposes during the microtomy process.

[0113] Tire block pathway system 102 can include a block storage system 201 to store a plurality of tissue blocks 203. Tire block storage system 201 can have a corresponding capacity indicative of the maximum number of tissue blocks 203 that can be stored by the block storage system 201. Tire block pathway system 102 can include various robotic subsystems, such as a block transport subsystem and a feeder transport subsystem 216. The feeder transport subsystem 216 is also referred to herein as a feeder transport system, a robotic feeder transport system or a robotic transport system. The feeder transport subsystem 216 can include a feeder carrier device 202, which is also referred to herein as jaw7feeder. Tire block pathway system 102 or the microtomy system 100 can include a tissue block holder for holding or securing a tissue block during the facing process and the sectioning process. The tissue block holder can be referred to herein as a block holder, a block jaw or a robotic device for securing a tissue block. The feeder carrier device 202 can be configured to provide tissueblocks to, and remove tissue blocks from, the tissue block holder. The block transport subsystem can be configured to place a tissue blocks in, and remove the tissue block from, the chilling station 210. The block transport subsystem can transport or move tissue blocks 203 between the block storage system 201 and the feeder transport subsystem 216 or the feeder carrier device 202. Hie tissue block pathway system 102 is described in further detail in section D below.

[0114] The section pathway system 104 can include a cutting assembly including a cutting blade, a pool subsystem 208, the chilling station 210 and one or more section manipulators 212. The pool subsystem 208 can be referred to herein as pool subsystem 208. The block holder 271 can hold and / or secure a tissue block 203. As shown, with further reference to FIG. 2G, the block holder 271 can hold and / or secure a tissue block 203 in a fixed orientation during sectioning, with the tissue block facing in the direction indicated by the arrow. Hie block holder 271 can include an upper clamp 272 and a lower clamp 273, and / or similar retention mechanisms, configured to stabilize the tissue block 203. The upper clamp 272 can apply downward pressure to hold the tissue block 203 against the lower clamp 273, which can act as a support platform. The upper clamp 272 and lower clamp 273 can be actuated by a motor or similar actuation mechanism to control clamping force and positioning of the tissue block 203. Hie block holder 271 can be configured to align the tissue block 203 based on sectioning parameters. The actuation of clamps 272 and 273 can be controlled by processing circuits executing motion control instructions, adjusting and / or otherwise updating clamp force and positioning based on block dimensions and sectioning requirements.

[0115] The cutting assembly can be viewed as belonging to the section pathway system 104 and the blade pathway system 108. Hie pool subsystem 208 can include one or more pools providing one or more liquid media. While shown to have a ring shape, the pool subsystem 208 and / or the corresponding pools can be arranged according to other shapes. Hie chilling station 210 can receive tissue blocks 203 before sectioning. The section manipulators 212 can be configured to detach sections from the cutting assembly and / or move sections across the pool subsystem 208. The section pathway can include a microtome internal system 214. The microtome internal system 214 can include a mechanical system to actuate vertical and / or horizontal motion of the tissue block holder.

[0116] Hie slide pathway system 106 can include a slide storage subsystem (or slide storage system) 204 and a slide transport subsystem 206 configured to pick up a slide from the slide storage system 204 and move the slide to a pool of the pool subsystem 208 to pick up a section on the slide. The slide transport subsystem 206 can be referred to herein as slide transport system. Once one or more sections are placed on the slide, the slide transport subsystem 206 can place the slide back in the slide storage system 204.

[0117] Hie blade pathway system 108 can include a blade storage subsystem to store a plurality of blades, a blade holder of the cutting assembly configured to secure the cutting blade for cutting sections, and one or more robotic subsystem to move cutting blades within the blade storage subsystem or between the blade storage subsystem and the blade holder. The blade storage subsystem can have a blade loading capacity, e.g., amaximum of 30 blades. The blade pathway system 108 or the cutting assembly can include a blade clamping system 218 to secure or unsecure the blade within the blade holder.

[0118] Tire blade pathway system 108 is configured to manage and / or control the storage and transport of blades within the microtomy system 100. As illustrated in FIG. 2A, the blade pathway system 108 is positioned near the section pathway system 104 and adjacent to the block pathway system 102. The blade pathway system 108 includes a blade storage subsystem configured to store a plurality of blades, a blade transport subsystem configured to carry or transport blades between compartments of the blade storage subsystem and a cutting assembly, and a blade holder within the cutting assembly configured to secure a blade for sectioning operations. Tire blade storage subsystem can have a blade loading capacity indicative of the maximum number of blades that can be stored within the microtomy system 100. Hie blade pathway system 108 can include a blade clamping system configured to secure or unsecure a blade within the cutting assembly. The blade pathway system 108 can be configured to automatically monitor a cutting quality of a blade used for sectioning operations and automatically replace or shift the blade based on the determined cutting quality.

[0119] FIG. 2E depicts another robotic implementation of the microtomy system 100, according to an example implementation. The robotic implementation of FIG. 2E is a multi-level or multi-layer robotic microtomy system including 3 levels or layers 120, 122 and 124 stacked vertically. For example, the lower level 120 can include the liquid pathway system 110. The intermediate level 122 can include the microtome internal system 214, pools or liquid media and the slide storage system 204. The upper level 124 can include the block transport system, the chilling station 210, the blade storage system and the robotic subsystems to carry or transport blades between compartments of the blade storage system and / or the cutting assembly.

[0120] In some implementations, microtomy system 100 may include various robotic subsystems as shown in FIG. 2F, particular robotic arm subsystems (e.g., 250 and 260) can be used for block pathway system 104, blade pathway system 108, and / or slide pathway system 106. For example, slide pathway system 106 can include the slide storage system 204 and the slide robotic arm subsystem 250 (e.g., slide transporter). In some implementations, the block pathway system 102 can include the block-blade robotic arm subsystem 260. The block-blade robotic arm 261 can be configured to pick and place tissue blocks 203 on block storage systems using the plurality of block-blade holders 262 (also referred to herein as “block-blade carriers”) present on the toolhead of the block-blade robotic ann 261. The block-blade robotic arm 261 can also be configured to pick and place tissue blocks 203 from the block exchange seat 274 of block transport subsystem, exchange the tissue block 203 at the block holder 271 (shown in FIG. 2B), and bring the tissue block 203 to a position where the block barcode reader can read the barcode on the tissue block 203.

[0121] In some implementations, the block transport subsystem can include a block exchange seat 274, where a tissue block 203 can be positioned before being transferred to other components of microtomy system 100. The block exchange seat 274 can serve as an intermediate station for securing and aligning the tissue block 203 prior to further processing (e.g.. sectioning, barcode scanning, cooling). The block-blade robotic arm 261 canpick up the tissue block 203 from the block exchange seat 274 and transport it to block holder 271 , a barcode scanning station, or a sectioning station (e.g., microtome cutting assembly, imaging station). Tire block exchange seat 274 can be configured to stabilize the tissue block 203 to prevent misalignment during transport (e.g., mechanical retention, vacuum-assisted stabilization).

[0122] The block transport subsystem can include clamps 275 and 276, which can be tapered to function as a self-centering jaw (e.g., wedge-shaped, conical, or V-groove). The clamps 275 and 276 can apply force to push the tissue block 203 downward against the block exchange seat 274 (e.g., pneumatic actuation, motorized drive), ensuring the block is flat before being picked up by the block-blade robotic arm 261. The self-centering jaw mechanism of clamps 275 and 276 can align the tissue block 203 by constraining movement within predefined tolerances (e.g.. micrometer-scale positioning, alignment verification via sensors), positioning the block accurately for subsequent transport (e.g., transfer to barcode scanner, chilling station, sectioning system). The self-centering jaw can also provide stabilization to maintain alignment during handling operations (e.g., vibration-resistant clamping, friction-based holding), reducing variability in block positioning across different stages of microtomy system 100.

[0123] In some implementations, the block transport subsystem can include a camera 277 positioned to capture images of the tissue block 203 before sectioning. The camera 277 can acquire image data representing the size and / or shape of the block face (e.g., width, length, contour), including block face length and / or other dimensional attributes. The camera 277 can determine how long a section will be with respect to the blade by measuring at least one dimension of the block face length (e.g., horizontal dimension of the exposed tissue area). The acquired block face dimensions (e.g., face width, sectionable length) can be used to determine section length, and the block height can be tire section length. Tire block height measurement (e.g., vertical distance from block base to exposed surface) can be used to derive motion parameters for the section manipulator arm (e.g., movement range, positioning offsets). The processing circuits of microtomy system 100 can execute instructions to analyze image data from camera 277 to adjust sectioning parameters (e.g., cutting depth, blade positioning) based on detected block characteristics.

[0124] Tire block transport subsystem can include a barcode scanner 278 configured to read identifying infomiation associated with tissue block 203 (e.g., block ID. patient reference number, processing timestamp). The barcode scanner 278 can be positioned along the block pathway system 102 to scan a barcode applied to the block cassette or other surfaces of the tissue block 203 (e.g., adhesive label, laser-etched code, printed QR code). In some implementations, the barcode scanner 278 can be a dedicated barcode reading device (e.g., laser scanner, CCD-based scanner) that outputs block identification data to processing circuits of microtomy system 100. In some implementations, barcode scanner 278 can be implemented as a camera (e.g., high-resolution optical sensor, near-infrared imaging system) capturing images of the barcode, with processing circuits executing image recognition algorithms (e.g., optical character recognition (OCR), convolutional neural network-based decoding) to extract block identification data. The extracted identification data can be used totrack the tissue block 203 throughout different stages of processing (e.g., storage, sectioning, staining), associating sectioning parameters (e.g., thickness, cutting speed), storage locations (e.g., refrigerated storage, processing queue), and / or examination results (e.g., histological classification, imaging metadata) with the corresponding tissue sample.

[0125] In some implementations, blade pathway system 108 can include block-blade robotic arm subsystem 260. The block-blade robotic arm 261 may include a plurality of block-blade holders 262 on the toolhead which can be configured to pick / drop a blade firom / to blade storage subsystem 270 and secure / unsecure blade within a block-blade holder 262. In some implementations, the slide pathway system 106 can include the slide robotic arm subsystem 250. Tire slide robotic arm 251 can include a plurality of slide grippers 252 on the toolhead. The slide robotic arm 251 and toolhead can be configured to retrieve and place slides from slide storage system 204 and / or exchange slides once the slide is ready with new sections.

[0126] Generally, referring to robotic arm subsystem 250, the slide robotic arm subsystem 250 can be configured to manipulate and transport slides within microtomy system 100. The slide robotic arm 251 can be actuated to retrieve slides from slide storage system 204 and position slides for section placement. The slide grippers 252 on tire toolhead can be configured to hold, rotate, and secure slides in position during section placement and transport. Tire slide robotic arm subsystem 250 can be controlled to execute slide transfer sequences between different stations. The slide robotic ann 251 can further position slides for section drying, staining, and transfer to microscopy stations for examination.

[0127] The slide robotic ann 251 can be configured to transport slides within slide pathway system 106. The slide robotic arm 251 can be actuated to retrieve slides from slide storage system 204 and position them at designated locations for section placement. Tire robotic actuation of slide robotic arm 251 can be controlled to perform movements that align slides for receiving cut tissue sections. The slide robotic ann 251 can further transport slides to different processing stations (e.g., drying, staining, microscopy). The slide robotic arm 251 can coordinate with other robotic subsystems of microtomy system 100 to transfer slides at predefined intervals based on sectioning and processing parameters (e.g., section thickness, staining duration).

[0128] Tire slide robotic ann 251 can include multiple degrees of freedom (e.g., rotation, linear displacement) to facilitate movement of slides within microtomy system 100. The actuation of slide robotic ann 251 can be based on predefined motion trajectories (e.g., Cartesian or joint-space paths), which can position slides within slide pathway system 106. The slide robotic arm 251 can be programmed to execute retrieval, transfer, and / or placement operations in a manner that reduces mechanical stress on slides (e.g., controlled acceleration, forcelimited gripping). The robotic control of slide robotic arm 251 can be configured to operate in coordination with slide grippers 252 to hold slides during transport and placement. The slide robotic arm 251 can operate with motion constraints (e.g., velocity limits, path correction) and programmed control parameters (e.g., positioning tolerances) to manipulate slides in different orientations during transport.

[0129] The slide grippers 252 can be configured to hold and manipulate slides within microtomy system 100. The slide grippers 252 can hold slides at different locations within slide pathway system 106 (e.g., storage racks, sectioning station) and allow for movement during section transfer. The slide grippers 252 can include an actuation mechanism (e g., motorized clamping) to open and close in response to control signals, which can allow gripping and release of slides. For example, a control signal can be received from a slide handling controller (e.g.. processing circuits executing instructions stored in memory, operating locally and / or communicating with a centralized control system to coordinate slide transport operations), which can cause the slide grippers 252 to engage or release a slide at a designated position. In this example, the control signal can be generated based on slide position data received from sensors and / or a predetermined motion sequence executed by slide robotic arm 251. The slide grippers 252 can be configured to apply a gripping force (e.g., pressure -controlled mechanism) to hold slides while preventing excessive pressure that could cause deformation or misalignment.

[0130] The slide grippers 252 can be configured to hold slides at multiple positions (e.g., retrieval from slide storage system 204, transport to section placement stations, transfer to processing stations). The slide grippers 252 can operate in coordination with slide robotic arm 251 to hold slides during movement and placement. The gripping force of slide grippers 252 can be adjusted based on slide material properties (e.g., glass thickness) and processing parameters (e.g., staining time, section adhesion). The slide grippers 252 can be controlled to release slides at predefined positions within microtomy system 100, which can align slides with downstream processing stations (e.g., drying system, staining system).

[0131] Generally, referring to robotic arm subsystem 260, the block-blade robotic arm subsystem 260 can be configured to manipulate both tissue blocks 203 and blades within microtomy system 100. Tire block-blade robotic arm 261 can execute transport operations between block storage system 201, block exchange station, and blade pathway system 108. The block-blade holders 262 on the toolhead can secure tissue blocks 203 for movement through sectioning, chilling, and barcode scanning stations. The block-blade robotic arm 261 can further retrieve blades from blade storage subsystem 270 and position them within a cutting assembly. The block-blade robotic arm subsystem 260 can coordinate operations with block pathway system 102 and blade pathway system 108 to automate the process of securing tissue blocks for sectioning and managing blade replacement as required.

[0132] The block-blade robotic arm subsystem 260 can include an articulated arm 261 having a block-blade holder 262 configured with a magnetic surface. The robotic subsystem 260 can cause the block-blade holder 262 to move to a first position where the magnetic surface of the block-blade holder 262 is magnetically coupled to an exposed surface of a blade 510 stored in a first structure (e.g., blade storage device 508). The robotic subsystem 260 can further cause tire block-blade holder 262 to move from the first position to a second position such that the blade 510 remains magnetically coupled to the block-blade holder 262 while being transported toward a second structure (e.g.. blade clamping mechanism). The robotic subsystem 260 can then cause theblock -blade holder 262 to move in a direction such that the second structure exerts a force on the blade 510, resulting in the blade 510 detaching from the magnetic surface of the block-blade holder 262.

[0133] Hie block-blade holder 262 can have an inclination angle that matches the angle at which the blade 510 is stored in the blade storage device 508. As the block-blade holder 262 approaches the blade 510, the alignment between the magnetic surface and the blade storage angle ensures that the blade 510 is properly magnetized without misalignment. The blade 510 can then be transported without shifting relative to the block-blade holder 262, maintaining a fixed orientation throughout movement. The second structure (e.g., blade clamping mechanism) can exert a shearing force on the blade 510 as the block-blade holder 262 moves in the direction of the blade insertion axis, guiding the blade 510 into a secure position for sectioning operations.

[0134] The block-blade holder 262 can include a resting surface transverse to the magnetic surface to accommodate a first side of the blade 510 during transport. The system can further include a spring configured to push the blade 510 against a surface of the second structure (e.g., blade clamping mechanism) upon detachment. The second structure can include a resting surface that exerts force on the blade 510, ensuring that the blade 510 is properly seated as the spring maintains pressure against the resting surface. The system can also include a third structure (e.g., blade securing clamp) that applies a clamping force to the blade 510 using a spring. The third structure can be unclamped from the blade 510 by a motor, permitting automated blade swaps during sectioning operations.

[0135] The third structure (e.g., blade securing clamp) can have a width smaller than the length of the blade 510 such that when the blade 510 is inserted in a slot defined by the second structure, a portion of the blade 510 extends beyond the width of the third structure. The robotic subsystem 260 can cause the block-blade holder 262 to move tow ard tire blade 510 such that the magnetic surface of the block-blade holder 262 magnetically couples to the portion of the blade 510 extending beyond the width of the third structure. The block-blade holder 262 can include a plurality of arms, each arm having a respective magnetic surface and a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade 510. The respective resting surfaces of the plurality of arms can be aligned with each other to provide uniform support for the blade 510 during transport. A second member can be configured to contact the blade 510 along a second portion of the blade 510, which is used to cut sections from one or more tissue blocks 203. The robotic subsystem 260 can move tire blade 510 to a blade storage device 508 including one or more blade storage slots. The magnetic surface of the block-blade holder 262 can include a permanent magnet to maintain secure atachment to the blade 510 during transport.

[0136] The block-blade robotic arm 261 can be configured to transport and position tissue blocks 203 and blades within microtomy system 100. The block-blade robotic arm 261 can execute pick-and-place operations for tissue blocks 203, moving them between block storage system 201, block holder 271, and / or barcode scanning stations. Hie movement of block-blade robotic ami 261 can be controlled to align tissue blocks 203 for sectioning operations. The block-blade robotic arm 261 can be configured to move blades within bladepathway system 108 (e.g., retrieving from blade storage subsystem 270) and place blades within the cutting assembly. The robotic arm 261 can operate with programmed movement sequences (e.g., predefined pick-and- place routines) for block and blade handling.

[0137] The block-blade robotic arm 261 can operate in coordination with other robotic subsystems of microtomy system 100 to transport blocks and blades. The block-blade robotic arm 261 can include multiple degrees of freedom (e.g., rotational joints, linear actuators) for movement control, which can position tissue blocks 203 and blades. The robotic control system can adjust the motion of block -blade robotic arm 261 based on feedback from sensors and imaging systems (e.g., optical encoders, camera-based alignment). The actuation of block-blade robotic ami 261 can be configured to transport blocks and blades between storage, processing, and sectioning stations (e.g.. block chilling station 210, blade replacement station).

[0138] The block-blade holders 262 can be configured to hold tissue blocks 203 and blades within microtomy system 100. The block-blade holders 262 can include a clamping mechanism (e.g., pneumatic or mechanical grippers) that secures tissue blocks 203 during transport and placement. The clamping force of block-blade holders 262 can be adjusted to hold blocks while preventing damage to tissue blocks 203 (e.g., pressure control feedback). The block-blade holders 262 can include an actuation mechanism (e.g., motorized release system) that allows for controlled release of tissue blocks 203 at predefined positions within block pathway system 102 (e.g., sectioning station, barcode reader)

[0139] For example, a control signal can be received from a blade handling controller (e.g., processing circuits executing instructions stored in memory, operating locally and / or communicating with a centralized control system to coordinate blade handling operations), which can cause the block-blade holders 262 to engage or release a blade during a blade replacement operation. In this example, the control signal can be generated based on blade usage data, such as the number of sectioning cycles performed or detected blade wear, and can trigger the replacement of a blade from blade storage subsystem 270.

[0140] In another example, a control signal can be received from a block transport controller (e.g., processing circuits executing instructions stored in memory, operating locally and / or communicating with a centralized control system to manage block transport sequences), which can cause the block-blade holders 262 to engage or release a tissue block during transfer between storage and sectioning stations. In this example, the control signal can be based on block position data received from sensors or preprogrammed movement sequences of block-blade robotic arm 261, which can align the tissue block 203 for sectioning or barcode scanning before release.

[0141] The block-blade holders 262 can be configured to interface with tissue blocks 203 and blades, which can allow handling of both elements within microtomy system 100. The block-blade holders 262 can operate in coordination with block-blade robotic ami 261 to hold and transport tissue blocks 203 between storage, sectioning, and processing stations (e.g., chilling, barcode scanning). The block-blade holders 262 can also hold blades for placement within the cutting assembly of blade pathway system 108 (e.g., blade clamping system218). The actuation of block -blade holders 262 can be controlled to release blades at predefined positions, which can position blades within the cutting assembly (e.g., blade insertion mechanism).

[0142] In general, the microtomy system 100 can be implemented according to other robotic implementations, e.g., other than those depicted in FIGS. 2A-2G. For example, robotic arm subsystems can include alternative actuation mechanisms (e.g., linear actuators, gantry-based systems) instead of articulated robotic anns. In another example, the microtomy system 100 can be configured to use different transport mechanisms for tissue blocks, slides, and blades (e.g., conveyor-based transfer, rotary indexing systems). In yet another example, robotic control of microtomy system 100 can be implemented using centralized or distributed processing architectures, with control functions assigned to dedicated subsystems and / or managed through a unified control system. Thus, it should be understood that while FIGS. 2A-2G illustrate some examples of a robotic microtomy system, alternative configurations, transport mechanisms, and control architectures can be used based on system requirements. In some implementations, a single robotic arm can be configured to handle slides, blocks, and blades by using interchangeable end effectors or adaptive grippers. That is, the robotic arm can switch between different tooling attachments (e.g., slide grippers, block clamps, blade holders) based on the component being transported, allowing a single robotic system to perform operations across slide pathway system 106, block pathway system 102, and blade pathway system 108.

[0143] The microtomy system 100 can include one or more processing circuits configured to control operations of the system, execute instructions stored in memory, and / or process data received from sensors, imaging devices, and / or robotic subsystems. The processing circuits can include one or more processors (e.g., central processing units (CPUs), microcontrollers, or application-specific integrated circuits (ASICs)) that perform computations and execute control algorithms to manage the microtomy process. The processing circuits can be communicatively coupled to memory devices (e.g., dynamic random-access memory (DRAM), NAND flash, or embedded multi-media card (eMMC)) storing executable instructions and system parameters, which can be used to perform processing operations related to slide transport, block handling, blade replacement, shifting, and / or liquid management. The processing circuits can execute instructions to coordinate movement sequences, monitor sensor feedback, and transmit control signals to actuation systems within microtomy system 100. In some implementations, the processing circuits can operate locally within microtomy system 100, whereas in some implementations, certain computational tasks can be perfonned remotely by an external computing system (e.g., a server, a cloud-based processing unit) that transmits control signals to microtomy system 100 over a network interface.

[0144] The memory of the microtomy system 100 can store program instructions, operational parameters, and system data used for controlling the robotic subsystems and processing elements. The memory can include volatile memory (e.g., random access memory (RAM), static RAM (SRAM)) and non-volatile memory (e.g., flash memory, electrically erasable programmable read-only memory (EEPROM), solid-state storage) that retains system configurations, learned parameters, and execution logs. The processing circuits can retrieve andmodify stored parameters based on real-time feedback from sensors and processing modules, adjusting operational sequences for slide placement, block positioning, and blade replacement based on detected conditions. Tire memory' can also store calibration data (e.g., positional offsets, force thresholds, sectioning speeds) used by robotic controllers to adjust actuation parameters, such as position offsets, force thresholds, and / or timing constraints for slide, block, and blade handling operations. In some implementations, memory can be partitioned such that execution data is stored in high-speed volatile memory while long-term process logs and historical operation data are stored in non-volatile memory. In another implementation, memory can be remotely accessed by an external computing system (e.g., network-attached storage, cloud database) that manages operational parameters and updates for microtomy system 100.

[0145] The processing circuits can execute instructions to manage data received from imaging systems, sensors, and / or feedback mechanisms deployed within microtomy system 100. Tire processing circuits can process image data from cameras (e.g., optical, infrared, depth-sensing) monitoring tissue blocks, slides, and blades to verify alignment, sectioning quality, and placement accuracy. Tire processing circuits can process force sensor data (e.g., strain gauges, load cells, piezoelectric sensors) from robotic actuators to regulate gripping force applied to slides, blocks, and blades, preventing excessive pressure that could result in mechanical failure or misalignment. Hie processing circuits can also process position feedback from encoders and motion sensors (e.g., absolute encoders, incremental encoders, Hall effect sensors) to track robotic subsystem movements, adjusting motion trajectories or re-executing placement operations when misalignment is detected. In some implementations, image processing and sensor data analysis can be performed locally within microtomy system 100. In some implementations, high -complexity data processing (e.g., deep learningbased defect detection, real-time motion optimization) can be offloaded to an external computing system that transmits computed results to microtomy system 100 for execution.

[0146] The processing circuits can generate and transmit control signals to robotic subsystems, actuators, and / or pathway systems to perform slide transport, block handling, fluid directing, movement of tissues, and / or blade positioning operations. The control signals can be generated based on predefined motion sequences (e.g., programmed pick-and-place routines, adaptive positioning algorithms), real-time sensor feedback (e.g., force thresholds, position alignment data), and / or external command inputs received from a computing system interfacing with microtomy system 100. Tire processing circuits can execute closed-loop control operations by receiving feedback from sensors (e.g.. torque sensors, proximity sensors, laser distance sensors) and adjusting motion parameters (e.g., speed, position, force) to compensate for mechanical tolerances, system variations, and environmental conditions (e.g., temperature fluctuations affecting wax hardness). The processing circuits can also manage command scheduling and synchronization between robotic subsystems (e.g., sequencing slide transport before block sectioning, replacing blades only after a sectioning cycle is completed) to prevent conflicts and maintain process efficiency. In some implementations, the control signals can be executed by localmicrocontrollers embedded in robotic subsystems. Tn some implementations, control signals can be transmitted to a centralized controller that orchestrates multi-subsystem coordination within microtomy system TOO.

[0147] Tire processing circuits can be communicatively coupled to external computing devices (e.g., workstations, diagnostic terminals, remote servers), networked storage systems (e.g., cloud databases, distributed file systems), and / or cloud-based processing environments for data exchange, remote operation, or system diagnostics. The processing circuits can transmit execution logs, diagnostic reports, and real-time operational data (e.g., section thickness variation, slide misalignment occurrences) to an external computing system for monitoring, analysis, and / or troubleshooting. The processing circuits can receive firmware updates, system configuration changes, and / or operational commands from an external controller, which can modify execution parameters or introduce software-based optimizations to the microtomy system 100. The processing circuits can also interface with security protocols (e.g., authentication tokens, encrypted communication), user authentication mechanisms (e.g., biometric access, password-protected remote login), and access control systems (e.g., role-based execution privileges) to regulate command execution and prevent unauthorized system modifications. In some implementations, remote system management can be performed through a web-based interface that allows an operator to monitor and adjust microtomy operations from an external computing device. In some implementations, data exchange can be restricted to a local network, preventing external access to operational controls while allowing data logging and / or retrieval within a secured environment.

[0148] Generally, the microtomy system 100 can utilize a 6-degree-of-freedom (6-DOF) robotic arms for pick- and-place operations, incorporating gripper attachments for handling tissue blocks 203, blades 510, and / or slides 204. The microtomy system 100 can include two robotic arms: a block-blade robotic arm 261 and a slide robotic arm 251. The block-blade robotic arm 261 can be equipped with two interchangeable grippers: a block- only gripper and a blade-block combination gripper, allowing flexible handling of both components. Hie rotary switching mechanism can allow exchange (e.g., quick, rapid) of tissue blocks at the block holder 271, reducing processing delays in the sectioning workflow. The block -blade robotic arm 261 can directly retrieve and deposit tissue blocks 203 between the block storage system 201 and the block holder 271, eliminating and / or reducing the need for intermediary transport subsystems. The microtomy system 100 can be configured to perform blade swapping through a dual-gripper configuration, facilitating real-time blade exchange at the sectioning location and / or an alternate blade storage subsystem 270. Blade alignment can be achieved by pressing the gripped blade against a pair of rigid alignment surfaces, which can be positioned anywhere within the range of the blockblade robotic arm 261. The alignment mechanism can improve positioning tolerances by utilizing multiple contact surfaces on a single rectangular column structure.

[0149] Additionally, the slide robotic arm 251 can be configured and / or otherwise implement to perform slide handling within slide pathway system 106, incorporating multiple grippers to facilitate slide transfer (e.g., continuous). Tire microtomy system 100 can be configured to provide a fast-swap mechanism for slide handling, similar to the block exchange function in block pathway system 102. The slide robotic arm 251 can operatewith three grippers, cycling between two slide pickup stations in sequence, ensuring that at least one gripper remains available for pickup while the others are occupied. The robotic control system can facilitate slide retrieval and placement operations to reduce idle time between cycles. Tire slide robotic arm 251 can retrieve slides from slide storage system 204, transport them to section placement positions, and subsequently return them for further processing. By maintaining a rotating sequence of occupied and empty grippers, the microtomy system 100 can prevent workflow interruptions and improve overall handling efficiency. The fast-swap mechanism can be configured to reduce robotic arm travel distance and cycle time, improving slide placement and retrieval without unnecessary repositioning of the arm.

[0150] In some implementations, the block-blade robotic arm 261 can be configured and / or otherwise implement to provide an alternative multi-swap mechanism for block handling, similar to the fast-swap method employed in slide transport. Instead of a single exchange process, the robotic arm 261 can be configured to manage multiple block exchanges before returning to storage. This can allow for sequential block swaps at the block holder 271 without requiring the arm to travel back to block storage system 201 after each individual swap. The block-blade robotic arm 261 can incorporate additional grippers to facilitate consecutive block handling, reducing time lost in repositioning. Additionally, blade swap operations can be updated to function at the final sectioning destination. By modifying the gripper configuration, both block and blade handling can occur in a single robotic cycle, integrating alignment and replacement into a continuous motion sequence. The robotic control algorithms can update pickup, placement, and / or alignment based on predefined motion constraints, ensuring precise positioning across multiple subsystems. The system can utilize encoded position data and sensor feedback to confirm successful swaps.

[0151] Generally, the microtomy system 100 can implement section teardown at the blade edge through a dualmode protocol compatible with both single section detachment and ribbon formation examples. As shown in FIG. 2B, the section manipulator 212 can be positioned at the main pool 208 adjacent to the cutting blade to retrieve sections following blade actuation. In the first example (e.g., single section hang), the section manipulator 212 can move towards the suspended section immediately after the block -blade robotic arm 261 completes sectioning. In the second example (e.g., ribbon formation), section n+1 may remain partially attached to the blade while section n begins to float away. Tire manipulator 212 can perform a timed underwater ascent to contact section n at a predefined attachment region, reducing deviation caused by ribbon coupling. Minor variation in the attachment position is acceptable, as the camera can detect section deviation in the main pool 208 and update motion parameters during subsequent section pickup. The section manipulator 212 can then remove the attached section without disturbing the following section n+1, and subsequently prepare for the next teardown cycle. To clear the blade of residual or malformed sections, the microtomy system 100 can also execute a fallback protocol equivalent to the single -section detach sequence.

[0152] In some implementations, tire section pickup and slide placement pipeline of microtomy system 100 can include a de-bottlenecked configuration for de-wrinkling operations. The microtomy system 100 canincorporate two separate hot pools (e.g., separate stations within subsystem 208) for parallel de-wrinkling of tissue sections. Each hot pool can be coupled to a respective slide pickup gantry', and each slide pickup gantry receives replenished slides from the slide robotic arm 251. This avoids multiple gantries accessing the slide storage 204 and prevents collision or path overlap. Hie slide pickup station includes a mechanical seat that holds the slide during section placement. This seat is submerged in the hot pool for de-wrinkling and then elevated (e.g.. vertical pop-up motion) to remove the slide from the hot liquid, reducing thermal damage. The pop-up action of the seat can be independent from other tasks, and control signals from the processing circuits can plan manipulator timing and slide handoff without cross-system blocking. Two section manipulators 212 alternate teardown from the blade edge, supporting two hot pools in alternating cycles. In some implementations, four hot pools can be handled by two manipulators, given the comparatively longer dwell time required for hot pool de-wrinkling relative to section teardown.

[0153] In some implementations, the main pool subsystem 208 can be implemented using a U-shaped structure configured to support controlled water circulation for section transport. In various implementations, the liquid pathway system 110 causes inflow of water through an inlet port placed deep in the pool and oriented toward the blade. This causes liquid to flow upward toward the blade and then outward across the pool surface, facilitating consistent section displacement away from the blade edge (e.g., toward the pickup position 1828). The inlet geometry can vary across implementations, and the inflow port can be located at alternate positions in a hydraulically connected body (e.g., opposite wall of the pool or bottom face). The direction and rate of inflow are set by the processing circuits based on cutting cycle timing and manipulator trajectory' to minimize and / or reduce section drift. Section position tracking can be performed using a camera in the main pool for feedback control. Liquid exit points can be positioned along the sidewalls of the pool, maintaining consistent outflow velocity and removing rejected or malformed sections.

[0154] The image feedback loop for microtomy system 100 is simplified using a single camera integrated into the main pool subsystem 208. As shown in FIG. 2B, this camera is positioned to capture section behavior immediately after cutting and during manipulator engagement. The image data from camera can be used to determine section detachment success, deviation from expected trajectory', and pickup status. This singlecamera implementation eliminates and / or reduces the need for dedicated hot pool imaging, as the leading edge of the section remains trackable from its prior location in tire cold pool. In some configurations, an optional post-slide placement camera can be installed. The image data from camera can be processed by the main processor 112, which adjusts motion sequences for section manipulators 212 and grippers 252.

[0155] Referring now to FIG. 3, various views of the tissue block 203 are shown, according to an example implementation of the current disclosure. In brief overview, the tissue block 203 can include a tissue sample 302, a wax block 304 and a cassette 306. The tissue block 203 can include a block identifier 310 arranged on a surface 308 of the cassette 306. As discussed above, the microtomy system 100 can include a block storagesystem 201 for storing a plurality of tissue blocks 203. For example, the block storage system 201 can have a storage capacity of 30 tissue blocks.

[0156] Tire tissue sample 302 can be removed by a surgeon from a body of a subject, such as a patient. For example, the tissue sample 302 can be removed from a tissue lump or tissue region suspected to have a high probability of cancerous growth or some other tissue abnormality. The tissue sample 302 can be removed using a biopsy procedure. As discussed above in Section A, the tissue sample 302 can undergo multiple processes before being embedded within the wax block 304. The tissue sample 302 can have a thickness of about 4 mm and to a cross section sized to be mounted on a slide.

[0157] Tire wax block 304 can provide the tissue sample 302 with structural support during cutting. The tissue sample 302 can be embedded in the wax block 304. The wax block 304 may be designed, adapted, arranged, structured, or configured to have a truncated pyramid shape. The wax block 304 can be made of paraffin wax. A width of the wax block 304 can be between 10 millimeters and 24 millimeters. A length of the wax block 304 can be between 16 millimeters to 36 millimeters. The wax block 304 can be coupled or attached to the cassette 306.

[0158] During the facing operation, the cutting assembly or the cutting blade can sequentially cut multiple sections of the wax block 304 embedding the tissue sample 302 until an “acceptable” or “proper” cross-section of the tissue sample 302 becomes exposed. During sectioning, the cutting assembly or the cutting blade can cut one or more sections of the wax block 304 such that each section includes a corresponding section of the tissue sample 302. In the following, a section of the tissue block refers to a section of wax block 304 with or without a corresponding section of the tissue sample 302, e.g., depending on whether the section is cut during facing or sectioning.

[0159] The cassette 306 can provide the wax block 304 with a rigid backing. Hie cassette 306 can be used to hold, grab or get a grip on the tissue block 203 during the microtomy process. Using the cassette 306 to grab the tissue block 203, e.g., instead of the wax block 304, prevents or reduces potential damage to the wax block 304 and / or the tissue sample 302 embedded therein. Robotic devices configured to pick up, grab or secure the tissue block 203 can come in contact with the cassette 306 without touching the wax block 304. In some implementations, the cassette 306 can be made of plastic.

[0160] The block identifier 310 can be placed on the surface 308 of the cassette 306. The surface 308 can be a slanted or inclined surface of the cassette 306 such that when the tissue block 203 is placed in the microtomy system 100, the block identifier 310 is accessible to a scanner and / or reader (shown as barcode scanner 278 in FIG. 2F-2G). The block identifier 310 can be indicative of a corresponding subject, e.g,., the patient from whom the tissue sample 302 was extracted. The scanner or reader (e.g., an optical barcode scanner, RFID reader, or machine vision system) can detect and decode the block identifier 310 to retrieve associated metadata, such as patient information, tissue type, or processing parameters. That is. the scanner and / or reader can communicate and / or otherwise interface with a computing system configured to process and store identification data, retrievepatient records, and associate the tissue block 203 with corresponding diagnostic or procedural workflows. The block identifier 310 can be or can include a barcode, a quick -response (QR) code, a radio frequency identification (RFID), or another type of identifier. Tire block identifier 310 allows for tracking or identifying the sections cut from the tissue block 203. Various processes, e g., facing, chilling and sectioning, can be applied to the tissue block 203 to generate thin sections to be examined.

[0161] Referring now to FIG. 4, a flow chart of a microtomy method 400 is shown, according to an example implementation of the current disclosure. The method 400 can be implemented, performed or executed by the microtomy system 100. In brief overview, the method 400 can include the microtomy system 100 receiving a plurality of tissue blocks (STEP 402), performing a facing operation on the plurality of tissue blocks 203 (STEP 404), performing a chilling operation on the plurality of tissue blocks 203 (STEP 406) and performing a sectioning operation on the plurality of tissue blocks 203 (STEP 408).

[0162] The microtomy system 100 can receive a plurality of tissue blocks 203 (STEP 402). An operator of the microtomy system 100 can unload the block storage system 201, if full of already processed tissue blocks, and load the block storage system 201 with new tissue blocks 203. The microtomy system may further receive a plurality of blades and / or a plurality of slides. Tire operator may load the blade storage subsystem with new cutting blades and / or load the slide storage system with new slides.

[0163] At STEP 402. the microtomy system 100 can receive a plurality of tissue blocks 203 from an external source and load them into the block storage system 201. That is, the microtomy system 100 can identify available storage slots within the block storage system 201 and position each tissue block 203 accordingly. For example, the block pathway system 102 can transport the tissue blocks 203 from an input tray to designated storage locations within the block storage system 201. In this example, the microtomy system 100 can associate each tissue block 203 with an identifier (e.g., barcode, RFID tag) for tracking throughout the microtomy process. Additionally, the microtomy system 100 can verify the presence and positioning of the tissue blocks 203 within the block storage system 201 using imaging sensors or other detection mechanisms.

[0164] The microtomy system 100 can perform a facing operation on the plurality of tissue blocks 203 (STEP 404). The microtomy system 100 may perform the facing operation on all the tissue blocks 203 before starting any chilling operation and / or sectioning operation. For example, the processor 112 can cause each tissue block 203 to be transported from the block storage system 201 to the tissue block holder and cause a plurality of sections to be cut from the tissue block 203 until "an acceptable” cross section of the tissue sample 302 becomes exposed. The processor 112 can cause the tissue block 203 to be moved back and placed in the block storage system 201. The processor 112 can repeat this process with all the tissue blocks 203.

[0165] At STEP 404, the microtomy system 100 can execute a facing operation on the tissue blocks 203 by sequentially positioning each block against the cutting blade 1705. That is, the microtomy system 100 can direct each tissue block 203 from the block storage system 201 to the block holder 908 for initial section removal. For example, the processor 112 can cause the cutting blade 1705 to remove surface layers of wax from tire tissueblock 203 to expose the embedded tissue sample. Tn this example, the block holder 908 can maintain a controlled force against the cutting blade 1705 to achieve a consistent facing depth. Additionally, the microtomy system 100 can monitor the exposed tissue surface using imaging sensors to determine whether additional facing passes are required before returning the tissue block 203 to the block storage system 201.

[0166] The microtomy system 100 can perform a chilling operation on the plurality of tissue blocks 203 (STEP 406). The block pathway system 102 can move or transport cause the plurality of tissue blocks 203, e.g.. one at a time, from the block storage system 201 to the chilling station 210 to be chilled. Each tissue block 203 can be in the chilling stations 210 for a defined chilling time period. Since the chilling operation is expected or desired to be chilled before the sectioning operation is perfonned on the same tissue block 203, the processor 112 can schedule each tissue block 203 for chilling such that sectioning is perfonned on the tissue block 203 right after chilling.

[0167] At STEP 406, the microtomy system 100 can transport the tissue blocks 203 to the chilling station 210 to regulate their temperature before sectioning. That is, the block pathway system 102 can move each tissue block 203 from the block storage system 201 to the chilling station 210 and maintain the blocks at a predefined temperature for a specified duration. For example, the chilling station 210 can utilize a liquid-based or solid- state cooling mechanism to reduce the temperature of the tissue blocks 203 to a level suitable for sectioning. In this example, the processor 112 can track the chilling duration of each tissue block 203 to synchronize the timing of subsequent sectioning operations. Additionally, the microtomy system 100 can adjust chilling parameters (e.g., duration, temperature) based on detected block properties such as wax composition or tissue density.

[0168] Tire microtomy system 100 can perfonn a sectioning operation on tire plurality of tissue blocks 203 (STEP 408). Once a tissue block 203 is chilled, the block pathway system 102 can carry the tissue block 203 from the chilling station 210 to the tissue block holder. The processor 112 can cause relative movements between the tissue block holder and the cutting assembly or the cutting blade secured therein causing one or more sections to be cut from the tissue block. The processor 112 can cause at least one of the tissues cut to be placed on a slide for examination and cause the slide to be placed in the slide storage system 204. The same process can be repeated for all the tissue blocks 203.

[0169] At STEP 408, the microtomy system 100 can perform a sectioning operation by positioning each chilled tissue block 203 against the cutting blade 1705 to generate thin sections . That is. the block pathway system 102 can transport each chilled tissue block 203 from the chilling station 210 to the block holder 908 for sectioning. For example, the processor 112 can cause the block holder 908 to incrementally advance the tissue block 203 toward the cutting blade 1705 at a predefined step size to control section thickness. In this example, the section manipulators 212 can retrieve the cut sections from the main pool 1714 and transfer them to slides for subsequent examination. Additionally, the microtomy system 100 can track the number and quality of sections produced from each tissue block 203, discarding defective sections based on imaging analysis.C. Blade Management

[0170] In a microtomy process a blade can handle about 8 to 10 tissue blocks 203 on average during sectioning before the quality of the sections cut starts to degrade. The blade blunts over time with more use and starts to introduce or cause defects or undesired artifacts in the sections cut that can negatively impact the examination of the sections under the microscope. In a robotic microtomy system, such as microtomy system 100, it is desired to have an automated or semi-automated mechanism to assess the cutting quality of a blade being used and timely replace the blade before the quality of the sections cut from the tissue block 203 degrades. In particular, when the microtomy system 100 is designed to handle a number of tissue blocks that is larger than the number of tissue blocks that can be handled by a single blade, automatic monitoring of the cutting quality or the quality of the sections cut and automatic replacement of the blades increases the efficiency and throughput of the microtomy system 100. Replacing the blades too early leads to inefficient use of the blades while overusing the blades leads to bad quality sections.

[0171] Systems, methods, mechanisms and / or techniques of the blade pathway system 108 described herein allow reliable and automated management or handling of the blades during the microtomy process. Management or handling of the blades can include reliable and / or stable transport of tire blades between different components or locations of the microtomy system 100, timely replacement of blades during the sectioning process and / or the facing process to maintain the desired cutting quality, safe storage that does not damage the cutting edges of the blades and / or reliable mechanisms to secure a blade in a cutting assembly used to cut sections from the tissue blocks. The systems, methods, mechanisms and / or techniques described herein allow cutting of high-quality sections, automatic handling of a plurality of tissue blocks at once without interruption and / or maximizing or increasing the utility of blades.

[0172] Blades are a large component of the operating costs of the microtomy system 100. Hence, it is important to make sure that blades are fully used up before they are discarded. To increase or maximize the utility of blades, a blade that is deemed no longer fit for sectioning can be used for facing before it is disposed of. For example, a blade that is deemed no longer fit for sectioning can still be used for facing about 20 to 30 tissue blocks 203 on average. It is to be noted that the number of tissue blocks that can be handled by a single blade during sectioning and / or during facing can vary based on various factors, such as hardness of the tissue blocks 203 and the sizes of the tissue samples in the tissue blocks 203, among other factors. A blade can get damaged much faster when cutting hard and large tissues.

[0173] Another approach to increase or maximize the utility of blades includes shifting between different regions of a cutting edge of a blade to cut sections from tissue blocks 203. For example, a first region of a blade can be used to cut sections from a first plurality of tissue blocks 203 and a second region of the blade can be used to cut other sections from a second plurality of tissue blocks 203. It is to be noted that a typical blade can be about 80 mm wide and tissue blocks are typically 25-40 mm wide. The systems, methods, mechanisms and / or techniques of the blade pathway system 108 described herein allow the re-use of blades exhausted viasectioning for facing and / or the use of multiple regions of blades for sectioning and / or facing. These features allow the microtomy system 100 to keep the operating costs down.

[0174] Another aspect of the blade pathway system 108 described herein can include a monitoring system to monitor and assess the cutting quality of a blade in use and trigger timely shifting or replacement of the blade. For example, a feedback loop can include a camera capturing images of sections cut and one or more processors, e.g.. processor 112, to monitor or assess the captured images for defects such as knife lines caused by damaged blades and / or excessive compression of sections caused by blunt blades and provide the trigger to shift or replace the blade during sectioning.

[0175] FIGS. 5A and 5B depict different views of an implementation of the blade pathway system 108 of the microtomy system 100, according to an example implementation of the current disclosure. In brief overview, the blade pathway system 108 can include a blade storage system 502, a blade input / output (I / O) subsystem 504 (or blade I / O system 504), a blade swapping station 506, and a blade holder 508. In some implementations, the blade pathway system 108 can include the feeder transport subsystem 216. The blade pathway system 108 can be configured to handle blades 510 (or cutting blades 510) used for cutting sections or slices of tissue blocks. Handling the blades 510 can include storing, transporting, replacing and / or securing the blades 510 in the blade holder 508 as will be discussed in further detail below. Hie blade pathway system 108 can be referred to herein as a blade management system 108.

[0176] The blade storage system 502 can be configured, structured or designed to store a plurality of blades 510. The blade storage system 502 can include one or more blade storage devices, such as trays and / or other structures, for storing blades 510. In some implementations, the blade storage system 502 can include a plurality of blade storage devices, e.g., configured to store blades of different types or blades at different stages of the blade usage. The blade storage system 502 can be configured, structured or designed with compartments that can prevent blade damage and can be modular to accommodate varying numbers and / or types of blades 510. The blade storage system 502 can be used for storage of new blades, used blades and / or waste blades or blades to be disposed of.

[0177] The blade storage system 502 can include separate blade storage devices for different stages of the blade usage. For example, blade storage system 502 can include a facing blade storage device 512, a sectioning blade storage device 514, and a disposal storage device 516. Hie sectioning blade storage device 514 can store blades 510, e.g.. new blades, to be used in the sectioning process. The sectioning blade storage device 514 can accommodate a plurality of blades (e.g., 10, 20, 30 or any other number of blades) to allow the microtomy system 100 to perform sectioning for extended periods of time for a plurality of tissue blocks without interruption to load new blades 510. The sectioning blade storage device 514 and / or the disposal storage device 516 can be mounted on a linear structure 518, e.g., a linear rail, to allow the sectioning blade storage device 514 and / or the disposal storage device 516 to move or extend to a loading position, e.g., to allow an operator ofthe microtomy system 100 to load the sectioning blade storage device 514 with new blades and / or unload blades from the disposal storage device 516.

[0178] Tire facing blade storage device 512 can store blades that have been previously utilized for sectioning but remain sharp enough to be used for facing. Sections or slices cut from the tissue blocks 203 during the facing process are disposed of or thrown away while sections cut during tire sectioning process are to be examined, e.g., under a microscope, e.g., for diagnosis or research purposes. As such, the quality (e.g., sharpness) of the blades used for facing can be less than the quality of blades used for sectioning. In some implementations, new blades can be used for sectioning while blades already used for sectioning can be used for facing. Employing used blades for facing facilitates more efficient and more economic use of the blades 510 and allows for processing a larger number of tissue blocks 203 before reloading the sectioning blade storage device 514 and / or unloading the disposal storage device 516. Also, by using separate storage devices, e.g., storage devices 512 and 514, to store blades to be used for facing and blades to be used for sectioning, respectively, the processor 112 may skip keeping track of which blades 510 were already used for sectioning and which ones were not. However, the processor 112 may still store information indicative of which slots of the facing blade storage device 512 and / or tire sectioning blade storage device 514 have blades 510 in them.

[0179] The disposal storage device 516 can store blades that have reached the end of their useful life. In particular, the disposal storage device 516 can store blades that have already been used for sectioning and facing and / or are to be discarded. In some implementations, the disposal storage device 516 can be mechanically coupled to the sectioning blade storage device 514. For example, both the sectioning blade storage device 514 and the disposal storage device 516 can be configured to move together along the linear structure 518 for the sectioning blade storage device 514 to be reloaded and the disposal storage device 516 to be unloaded. The blade storage devices 512, 514 and / or 516 can be referred to herein, either individually or collectively, as blade storage container(s).

[0180] The blade I / O subsystem 504 can include or can be a robotic subsystem (or robotic system) to move blades 510 from and / or into the storage devices 512, 514 and / or 516. For example, the blade I / O subsystem 504 can pick up a blade 510 from the sectioning blade storage device 514 and place the blade 510 in the swap station 506 to be carried to the blade holder 508. Tire blade I / O subsystem 504 can receive or pick up a blade 510 (e.g., a blade 510 that was already used for sectioning) and place the blade 510 in the facing blade storage device 512. The blade I / O subsystem 504 can receive or pick up a blade 510 (e.g.. a blade 510 that was already used for sectioning and facing) and place the blade 510 in the disposal storage device 516.

[0181] In some implementations, the blade I / O subsystem 504 can include a blade transport gantry 520. The blade I / O subsystem 504 can include a blade carrier 522 configured to pick up, carry and / or release blade 510. Tire blade carrier 522 can be referred to herein as a robotic blade carrier 522, blade gripper 522, robotic blade gripper 522, gripping device 522 and / or robotic blade gripping device 522. Hie blade carrier 522 is described in further detail below in relation to FIGS. 7A-7D. In some implementations, the blade carrier 522 can havetwo degrees of freedom, e.g., along a horizontal direction, e.g., a Y-axis, and a vertical direction, e.g., a Z-axis, and can exhibit controlled movement to allow for accurate placement, retrieval and / or transfer of blades 510. For example, the blade I / O subsystem 504 or the respective blade transport gantry 520 can include a first motor 524 and a second motor 526 to drive movement of the blade carrier 522 along the horizontal direction and the vertical direction, respectively. The movement along the Z-axis allows the blade carrier 522 to pick up blades 510 from the swapping station 506, the facing blade storage device 512 and / or the sectioning blade storage device 514 or drop the blades 510 therein. The movement along the horizontal direction or the Y-axis allows the blade carrier 522 to move between the blade storage device 512, 514, 516 and / orthe blade swapping station 506. In some implementations, the blade I / O subsystem 504 and / or components thereof can be modular and / or detachable for maintenance and repair.

[0182] The blade swapping station 506, also referred to herein as swap station 506, can include at least two slots for receiving or hosting two or more blades 510. The blade swapping station 506 allows for a quick exchange of blades 510 between the blade carrier 522 and the feeder transport subsystem 216, which enhances workflow efficiency within the microtomy system 100. For example, the blade carrier 522 can pick up a first blade 510 from the facing blade storage device 512 or the sectioning blade storage device 514 and drop the first blade 510 in a first slot of the blade swapping station 506 to be picked up by the feeder transport subsystem 216 to be secured at the blade holder 508. The feeder transport subsystem 216 can take a second blade 510 released from the blade holder 508 and place the second blade 510 in a second slot of the blade swapping station 506. The feeder transport subsystem 216 can then pick up the first blade 510 from the first slot of the blade swapping station 506 to be secured in the blade holder 508, and the blade carrier 522 can pick up the second blade 510 from the second slot of the blade swapping station 506 to place it in tire facing blade storage device 512 or the disposal storage device 516. In some implementations, the blade swapping station 506 can be mechanically coupled to the facing blade storage device 512. In some implementations, the blade swapping station 506 can be a designated portion of the facing blade storage device 512 and / or the sectioning blade storage device 514. In some implementations, the blade swapping station 506 can be part of the blade storage system 502.

[0183] Tire blade holder 508 can be configured to secure a blade 510 in place for cutting sections or slices of tissue blocks 203. The blade holder 508 and a blade 510 secured therein can be viewed as forming a cutting assembly 528. The cutting assembly 528 can include one or more actuators and / or other components or mechanisms to control the blade holder 508. The blade holder 508 is described in further detail below in relation to FIGS. 9 and 10A-10C. In some implementations, the cutting assembly 528 can include a shaft driven by a motor to apply force to a pressure plate, securing the blade 510 between the blade holder 508 and the pressure plate. Tire blade 510 can be positioned relative to the tissue block 203 to facilitate controlled sectioning. The cutting assembly 528 can include one or more actuators configured to adjust blade positioning, clamping force, or sectioning parameters based on received control signals. The blade holder 508 can interface with mechanical components that regulate movement of the blade 510 along predefined cutting paths. The cutting assembly 528can operate in coordination with section pathway system 104 to perform cutting operations based on programmed sectioning parameters. The processing circuits of microtomy system 100 can execute instructions to control blade clamping, actuate blade positioning mechanisms, and adjust sectioning parameters based on detected conditions. Hie cutting assembly 528 can include mechanical constraints to regulate blade deflection, minimize unwanted movement, and maintain alignment between the blade 510 and tissue block 203. The cutting assembly 528 can receive commands from the processing circuits to perform blade replacement, shifting, calibration, and / or sectioning operations based on preconfigured control sequences.

[0184] The blade pathway system 108 is configured to automatically handle blades 510 in the microtomy system 100. The automatic handling of the blades 510 can include automatic pick-up of blades 510 from the blade storage system 502 and automatic placement of blades 510 within the blade storage system 502, automatic transport of blades 510 between the blade storage system 502 and the blade holder 508, automatically securing a blade 510 in the blade holder 508, automatically shifting the position of a blade 510 within the blade holder 508, automatic replacement of the blade secured to the blade holder 508 and / or automatic monitoring of the state or cutting quality of a blade 510 used for sectioning or facing. The blade pathway system 108 ensures efficient and safe operation of the microtomy system 100 with respect to blade handling with no or little human interference. In some implementations, a human operator of the microtomy may interfere to unload the blade storage system 502 and reload it with new blades 510.

[0185] Referring now to FIG. 5C, an implementation of blade handling within microtomy system 100, including block -blade robotic arm subsystem 260. The block-blade robotic arm 261 can be configured to manipulate blades 510 using one or more block-blade holders 262. The block-blade holders 262 can be configured to engage, transport, and / or position blades 510 between blade storage, cutting assembly 528, and / or blade replacement stations. The blade holder 508 can be configured to secure a blade 510 within the cutting assembly 528. maintaining the blade 510 in a fixed position for sectioning operations. The block-blade robotic arm 261 can be actuated to retrieve a blade 510 from blade storage (e.g., storage rack, indexed blade cartridge) and transfer the blade 510 to blade holder 508. The actuation of block -blade robotic arm 261 can be controlled based on preprogrammed motion sequences, real-time sensor feedback, and / or external commands from processing circuits. The block-blade holders 262 can engage the blade 510 using a mechanical gripping mechanism (e.g., friction-based clamps, magnetic retention, vacuum-assisted gripping) to maintain a secure hold during transport. The blade holder 508 can include a pressure plate mechanism to clamp the blade 510 within the cutting assembly 528, applying force to stabilize the blade during sectioning. The processing circuits of microtomy system 100 can execute instructions to coordinate blade transport, clamping, and / or sectioning operations based on system parameters. The robotic control of block-blade robotic arm 261 can be synchronized with other pathway systems (e.g., section pathway system 104, slide pathway system 106) to regulate blade replacement timing and minimize workflow interruptions.

[0186] Referring now to FIGS. 6A-6C, various aspects of the blade storage system 502 are depicted, according to an example implementation of the current disclosure. FIG. 6A illustrates an example perspective view of the blade storage system 502, FIG. 6B depicts a sequence of images (a) - (k) illustrating an example process of unloading the blade storage system 502 and reloading the blade storage system 502 with new blades, and FIG. 6C depicts an example blade storage structure of the blade storage system 02.

[0187] As discussed above, the blade storage system 502 can include the blade swap station 506. the facing blade storage device 512, the sectioning blade storage device 514 and the disposal storage device 516. The sectioning blade storage device 514 can store sectioning blades 602, e.g., new blades, to be used for cutting sections during the sectioning process. Hie facing blade storage device 512 can store facing blades 604, e.g., blades already used for sectioning, to be used to cut sections or slices during the facing process. The sectioning blade storage device 514 and the disposal storage device 16 can be mechanically coupled to one another or can be two compartments of a single structure. The sectioning blade storage device 514 and the disposal storage device 516 can be configured or structured to move or slide along the linear structure 518 to and from a loading position.

[0188] In some implementations, the blade storage system 502 can include a handle structure 606 mechanically coupled to, or extending from, the sectioning blade storage device 514 or the disposal storage device 516. Hie operator of the microtomy system 100 can use the handle structure 606 to move the sectioning blade storage device 514 and the disposal storage device 516 between the default position (or operating position) and the loading position when unloading used blades and / or loading new blades.

[0189] Referring now to FIG. 6B, images illustrating an example process of unloading the blade storage system 502 and reloading the blade storage system 502 with new blades are shown, according to an example implementation of the current disclosure. Images (a) - (c) depict the sectioning blade storage device 514 and / or the disposal storage device 516 moving or sliding along the linear structure 518 from the default or operating position towards the loading position. Images (d) - (f) depict the unloading of previously used or completely used cutting blades 612 from the disposal storage device 516. Images (g) - (i) depict the loading of new sectioning blades 602 in the sectioning blade storage device 514. Images (j) and (k) depict the movement or sliding of the sectioning blade storage device 514 and / or the disposal storage device 516 back to the default or operating position along the linear structure 18.

[0190] Referring back to FIG. 6C. a blade storage structure 614 of the blade storage system 502 is shown, according to an example implementation of the current disclosure. The blade storage structure 614 can be applicable to the facing blade storage device 512, the sectioning blade storage device 514 and / or the swapping station 506. Tire swapping station 506, the facing blade storage device 512 and / or the sectioning blade storage device 514 can be referred to herein either individually or in combination as blade container(s). The blade storage structure 614 can include a plurality of slots 616 spaced apart to accommodate a plurality of blades 510. The slots 616 can be referred to as grooves or recesses. The plurality of slots 616 can be defined by a pluralityof wall structures 618. Each wall structure 618 can have a corresponding inclined surface 620 facing the corresponding slot 616. The inclined surfaces 620 can be oriented at an angle 0, e.g., with respect to a base surface (or bottom surface) 622 or a top surface 624 of the blade storage device 512, 514, 506, and / or 512.

[0191] Each slot 616 can receive or accommodate a cutting blade 510. When placed each in a separate slot 616. the blades 510 can be spaced apart from one another such that no blade 510 touches or is in contact with another blade 510. Each pair of consecutive or neighboring slots 616 as well as the pair of blades 510 placed therein can be separated apart by wall structure 618. This arrangement prevents blades 510 from sticking to each other to facilitate or allow the blades to be accessed individually, and prevents or reduces the likelihood of potential damage or defects to the blades 510 that could arise from bladc-to-bladc contact. In some implementations, the blades 510 may be placed in the slots 616 such that respective cutting edges are pointing upward and are not touching or in direct contact with any surface, edge or portion of the blade storage structure 614 in order to avoid or reduce the likelihood of any damage or defects to the cutting edge of each blade 510.

[0192] For each slot 616, a corresponding bottom surface 626 can provide a support or resting surface for the blade 510 placed in the same slot 616. For example, the bottom surface 626 can bear most of the weight of the corresponding blade 510. In some implementations, the bottom surface 626 can exert a shearing force on the blade 510 to detach the blade 510 from the blade carrier 522 or 804 or the respective magnetic surface(s) 710 or 816, respectively, during blade release. Each blade 510. when placed in a corresponding slot 616, can lie against the inclined surface 620 of the slot 616. As such, the blades 510 can be placed or oriented at the inclination angle 0 of the inclined surface 620 of the slot 616. As described in further detail below, the inclined or angled placement of the blades 510 facilitates easy access to the blades 510 for picking up from the blade storage system 502 and / or release in the blade storage system 502. For example, the inclined or angled placement of the blades 510 can minimize the effort and time consumed by a robotic system to pick up or release a blade 510 from a corresponding slot 616. Also, the inclined or angled placement of the blades 510 (e.g., compared to vertical orientation / placement) provides stability for the blades 510 within the corresponding slots 616.

[0193] In some implementations, the sectioning blade storage device 514 can be configured, structured or designed to accommodate or receive N blades 510, 602, sufficient to handle the maximum number of tissue blocks 203 that can be stored in the microtomy system 100. For example, the sectioning blade storage device 514 can include N slots 616. In some implementations, N can be equal to 20. 25. 30. 35. 40 or some other number. In some implementations, the facing blade storage device 512 can include a smaller number m of slots 616 compared to the number N of slots in the sectioning blade storage device 514, e.g., m < N. The facing of the tissue blocks 203 stored in the microtomy system 100 does not consume as many blades as the sectioning of the tissue blocks 203. For example, m can be equal to 4, 5, 6, 7 or some other number. Tire swapping station 506 can include two or more slots 616.

[0194] Referring now to FIGS. 7A-7D, various aspects ofthe blade I / O subsystem 504 are depicted, according to an example implementation ofthe current disclosure. FIG. 7A illustrates an example perspective view ofthe blade I / O subsystem 504, according to an example implementation of the current disclosure. In a brief overview, the blade I / O subsystem 504 can include the blade transport gantry 520 and tire blade carrier 522. In some implementations, the blade swapping station 506 can be viewed as a component of the blade I / O subsystem 504. The blade transport gantry 520 can be mounted on a blade transport gantry base platform 702. As discussed above in relation to FIGS. 5A and 5B, the blade I / O subsystem 504 can include or can be a robotic subsystem (or robotic system) configured to move blades 510 from and / or into the storage devices 512, 514 and / or 516. For example, the blade I / O subsystem 504 can be configured, structured or designed to transport blades 510 between the blade swapping station 506 and the facing blade storage device 512, the sectioning blade storage device 514 or the disposal storage device 516.

[0195] The blade carrier 522 can include or can be a device or subsystem to grab, grasp or pick up blades 510. The blade carrier 522 can include at least one member 704 to grab, grasp or pick up blades 510. The blade carrier 522 can be mechanically coupled to the blade transport gantr 520. The blade transport gantry 520 can include the motors (or actuators) 524 and 526 to cause or drive movement of the blade carrier 522 along at least two axes: a horizontal axis 706 and a vertical axis 708. Hie movement along the horizontal axis, e.g., Y-axis, 706. allows or facilitates the blade carrier 522 to move across the swapping station 506, the facing blade storage device 512, the sectioning blade storage device 514 and / or the disposal storage device 516. The movement along the vertical axis, e g., Z-axis, 708 allows or facilitates adjustment of the vertical position of the blade carrier 522 to pick up or release blades 510. The blade carrier 522 is described in further detail below in relation to FIG. 7B.

[0196] FIG. 7B depicts front and rear perspective views of the blade carrier 522, according to an example implementation of the current disclosure. In some implementations, the blade carrier 522 can include a pair of members 704. Each member 704 can be referred to herein as an arm 704, a beam element 704 or a gripping element 704. The pair of members 704 can be mechanically coupled to each other to ensure synchronized motion of both members 704. In general, the blade carrier 522 can include one or more members 704 mechanically coupled to each other. Each member 704 can include a corresponding magnetic surface 710 providing a magnetic force to magnetically attract, magnetically hold and / or pick up a nearby blade 10.

[0197] In some implementations, each magnetic surface 710 can be associated with a corresponding permanent magnet 712. For example, for each magnetic surface 710, the corresponding permanent magnet 712 can be placed in a recess associated with the surface 710. In some implementations, each magnetic surface 710 can be associated with a corresponding coil generating a magnetic field. For example, for each magnetic surface 710, the corresponding coil can be placed behind the surface 710.

[0198] The use of magnetic surface(s) 710 or magnetic forces provides a reliable pick up and / or holding mechanism. For example, the magnetic attraction works even when the blade 510 is wet or even immersed in aliquid. Furthermore, compared to mechanical gripping or clamping mechanisms, the use of magnetic field as a pick-up and / or holding force allows for simpler designs and a lighter weight of the blade carrier 522. Also, magnetic surfaces 710 are more durable and easier to maintain compared to mechanical gripping or clamping devices, which can be prone to wear and tear. Another advantage of using a magnet coupling mechanism is to avoid clamp-like gripper designs which can come in contact with and damage the cutting edge of the blade.

[0199] In some implementations, the magnetic surface(s) 710 can be oriented or arranged at an inclination angle 0’, e.g., relative to a horizontal plane, when the blade carrier 522 is mechanically coupled or mounted to the blade transport gantry 520. In some implementations, the angle 0’ can be equal or substantially equal to the inclination angle 0 of the inclined surfaces 620 or the blades 510 when placed in the swapping station 506, the facing blade storage device 512 or the sectioning blade storage device 514. For example, the difference between the angles 0 and 0’ can be less than or equal to 1 degree, 2 degrees or 3 degrees. As such, upon coming in proximity to a blade 510 placed in the swapping station 506, the facing blade storage device 512 or the sectioning blade storage device 514, e.g., for pick-up, the magnetic surfaces 710 will be aligned or substantially aligned with the blade 510 allowing for a stronger magnetic coupling between the magnetic surfaces 710 and the blade 510. In particular, the alignment between the magnetic surfaces 710 and the blade 510 allows at least significant portions of the magnetic surfaces 710 to come in contact with or close to the blade 510 leading to a relative strong magnetic force between the magnetic surfaces 710 and the blade 510. Also, during release of the blade 510, the alignment facilitates placement of the blade 510 in a corresponding slot 616 without bumping the blade 510 into a corresponding wall structure 618.

[0200] Tire blade storage structure 614 and the blade I / O subsystem 504, including the blade carrier 522, facilitate accurate and reliable pick-up and release of tire blades 510 from and into the swapping station 506, the facing blade storage device 512 and / or the sectioning blade storage device 514. The picking up of blades 510 can be referred to herein as gripping or blade gripping, whereas the release of blades 510 can be referred to as un-gripping or blade un-gripping. Both processes are described in relation to FIGS. 7C and 7D below.

[0201] FIG. 7C depicts a sequence of images (a)-(c) illustrating a blade pick-up process, according to an example implementation of the current disclosure. The motor 524 can cause the blade carrier 522 to move along the horizontal axis 706 to be aligned, or substantially aligned, with the member(s) 704 and / or the respective magnetic surface(s) 710 with a slot 616 or a blade 510 stored therein. As depicted in image (a), the blade carrier 522 can move along a direction parallel (or substantially parallel) to the slot 616 or the blade 510 therein. For example, the motors 524 and 526 can cause or actuate a sequence of step movements of the blade carrier 522 along the horizontal direction 706 and the vertical direction 708, e.g., to cause motion of the member(s) 704 and / or the respective magnetic surface(s) 710 along the direction defined by the inclination angle 0 and towards the slot 616 or the blade 510 therein. The motors 524 and 526 can be controlled by one or more respective controllers and / or by the processor 112. The processor 112 and / or the controller(s) can keep track of the position of the blade carrier 522. The processor 112 and / or the controller(s) can maintain a record of the positions of thevarious slots 616 of the blade storage system 502 and / or the blades 510 stored therein. The processor 1 12 and / or the controller(s) can keep track of which slots 616 store blades 510 in them and / or which slots 616 are empty. Tire positions of the various slots 616 and / or the blades 510 stored therein can be defined in terms of one or more units of distance or in temis of motor steps relative to a reference position. For example, at least one of the motors 524 and 526 can include or can be a step motor. Tire reference position can include a default position of the blade carrier 522, a position associated with the blade transport gantry 520 or some other defined position.

[0202] As the member(s) 704 move toward the blade 510, the corresponding magnetic surface(s) 710 can come in contact with, or get very close to, e.g., within about 1 mm, the cutting blade 510 causing the cutting blade 510 to magnetically attach to the mcmbcr(s) 704 and / or the respective magnetic surfacc(s) 710 as depicted in image (b). In particular, the magnetic force or field of the magnetic surface(s) 710 causes the blade 510 to be secured to the member(s) 704 and / or the corresponding magnetic surface(s) 710. Once the blade 510 is magnetically secured to the member(s) 704 and / or the corresponding magnetic surface(s) 710, the blade carrier starts to move away from the slot 616 along the vertical axis / direction 708 as depicted in images (b) and (c).

[0203] In some implementations, the processor 112 and / or the motor controller(s) can assume that the blade 510 is magnetically secured to the member(s) 704 and / or the corresponding magnetic surface(s) 710 upon the blade carrier 522 reaching a defined position, e.g., associated with the cutting blade 510. The processor 112 and / or the motor controller(s) can trigger reverse motion of the blade carrier 522, e.g., movement away from the slot 616 along the direction defined by the angle 0, responsive to the blade carrier 522 reaching the defined position. In some implementations, the blade pathway system 108, the blade storage system 502 and / or the blade I / O system 504 can include one or more sensors to detect magnetic attachment of the blade 510 to the member(s) 704 and / orthe corresponding magnetic surface(s) 710. The sensor(s) can send a signal indicative of the magnetic attachment to the processor 112 and / or the motor controller to trigger reverse movement of the blade carrier 522, e.g.. away from the slot 616 and along the direction defined by the angle 0. The sensor(s) can include an optical sensor, a proximity sensor and / or an electrical contact sensor, among other types of sensors.

[0204] As depicted in FIGS. 6A, 7A and 7C, the blades 510 can have a dimension greater than a corresponding dimension of the wall structures 618. For example, a length of tire cutting blades 510 can be equal to DI and a length or width of the wall structures 618 can be equal to D2, where D2 < DI. In some implementations, the difference between D 1 and D2 can be greater than or equal to a sum of the width or thickness of the member(s) 704. For example, when the blade 510 is placed in a slot 616, at least one portion of the blade 510 can be exposed, e.g., not covered by a wall structure 618 facing the blade 510. When the blade carrier 522 moves towards the blade 510, the member(s) 704 can be aligned with the exposed portion(s) of the blade 510 and the magnetic surface(s) 710 can come into contact with the exposed portion(s) of the blade 510. The total width of the exposed portion(s) of the blade 510 may be greater than or equal to a total width of the member(s) 704 or a total width of the respective magnetic surfaces 710. As such, the magnetic surface(s) 710 can overlap acrossthe respective total width, with the exposed portion(s) of the blade 510 leading to increased magnetic attraction between the blade 510 and the magnetic surface(s) 710 and a more reliable pick-up of the blade 510.

[0205] In some implementations, the swapping station 506, tire facing blade storage device 512 and / or the sectioning blade storage device 514 can have respective side walls, such as side walls 628 and 630 depicted in FIGS. 6A and 7A, that are aligned with side edges of the blades 10. In such implementations, it would be expected or desired to have one or more gaps between the side edges of the wall structures 618 and the side walls 628 or 630 wide enough to accommodate the member(s) 710. In other words, each gap is expected or desired to be wider than a corresponding member 710 of the blade carrier 522, which implies that the difference between D 1 and D2 is expected or desired to be greater than or equal to the sum of the width or thickness of the member(s) 704.

[0206] Referring now to FIG. 7D, a sequence of images (a)-(d) illustrating a blade release process is shown, according to an example implementation of the current disclosure. The sequence of images represents snapshots of a video sequence of the blade release process. As depicted in images (a) and (b) of FIG. 7D, the blade carrier 522 carrying the blade 510 can move along the direction defined by the angle 0 and towards a slot 616 to slide the blade 510 therein. For example, the motor 524 and / or motor 526 can cause or actuate the movement of the blade carrier 522 along the direction defined by the angle 0, e.g., as a sequence of step movements along the horizontal and vertical directions 706 and 708, to slide the blade in the slot 616. The motor 524 and / or motor 526 may cause or actuate the movement of the blade carrier 522 until the blade carrier 522 reaches a defined position, e.g., where the blade 510 is resting on the bottom surface 626 of the slot 616. Upon the blade carrier 522 reaching the defined position, the motor 524 and / or the motor 526 can cause or actuate movement of the blade carrier 522 along a direction transverse to the surfaces of the wall structures 618, as depicted in images (c) and (d) of FIG. 7D. Hie transverse movement of the blade carrier 522 causes a wall structure 618 associated with the slot 616 accommodating the blade 510 to exert a mechanical force on the blade 510 opposite to the magnetic force produced by the magnetic surface(s) 710. The mechanical force can decouple the blade from the member(s) 704 and / or the respective magnetic surface(s) 710. In other words, the transverse movement of the blade carrier 522 causes the blade 510 to be butted against the wall structure 618 associated with the slot 616 accommodating the blade 510, while the member(s) 704 moves past the wall structure 618. As such, the wall structure 618 causes the blade 510 to be decoupled from the magnetic surface(s) 710. In some implementations, the transverse motion of the blade carrier 522 can be a motion along the horizontal direction 706.

[0207] In some implementations, the processor 112 can cause the blade 510 to be decoupled from the member(s) 704 or by turning off or tuning down the magnetic field(s) associated w ith the magnetic surface(s) 710. For example, upon the blade carrier 522 reaching the defined position, e.g., where blade 510 is resting on the bottom surface 626 of the slot 616, the processor 112 can turn off electric current running through one ormore coils associated with the magnetic surface(s) 710. Once the magnetic field is turned off, the motor 524 and / or motor 526 may cause the blade carrier to move away from the slot 616.

[0208] Referring now to FIGS. 8A-8D, various aspects of the feeder transport subsystem 216 are depicted, according to an example implementation of the current disclosure. FIG. 8 A depicts a perspective view of the feeder transport subsystem 216. The feeder transport subsystem 216 can be referred to herein as a feeder transport subsystem, a blade transport system, a robotic transport system or a robotic feeder transport system. The feeder transport subsystem 216 can be configured to carry or transport blades 510 between the blade storage system 502 and the blade holder 508. The term “feeder” refers to the fact that the feeder transport subsystem 216 provides or feeds blades to the blade holder 508 from the blade storage system 502 or the respective swapping station 506. FIGS. 8B-8D depict various aspects of another blade carrier 804 associated with the feeder transport subsystem 216, according to an example implementation of the current disclosure.

[0209] Referring now to FIG. 8 A, the feeder transport subsystem 216 can include a feeder transport gantry 802 and a blade carrier 804 mechanically coupled to the feeder transport gantry 802. The feeder transport subsystem 216 and / or the feeder transport gantry 802 can facilitate movement of the blade carrier 804 along at least two directions or axes, such as a horizontal axis (or X-axis) and a vertical axis (Z-axis). For example, the feeder transport subsystem 216 can include a motor 806 to drive movement of the blade carrier 804 along the feeder transport gantry 802 or the X-axis and can include a motor 808 to drive the movement of the blade carrier 804 along the Z-axis. The multi-axis movement capability of the blade carrier 804 facilitates accurate positioning and transport of blades 510. For example, the vertical movement facilitates pick-up or release of blades 510 at the blade storage system 502 or the respective swapping station 506 and the blade holder 508, whereas the horizontal movement facilitates transport of blades 510 between the blade storage system 502 or the respective swapping station 506 and the blade holder 508.

[0210] Like the blade carrier 522. the blade carrier 804 can include one or more members 810 to engage, pick, grip or hold a blade 510 via magnetic force. The blade carrier 804 is described in further detail below in relation to FIGS. 8B-8D. The feeder transport subsystem 216 can include a camera 812 mechanically coupled to the feeder transport gantry 802. The camera 812 can be positioned or configured to capture images of sections cut by the cutting assembly 528 or a blade 510 mounted in the blade holder 508. The feeder transport subsystem 216 can include a motor 814 to drive movement of the camera 812 along another horizontal axis (Y-axis) perpendicular or transverse to the X-axis or a longitudinal dimension of the feeder transport gantry 802.

[0211] FIGS. 8B and 8C depict different views of the blade carrier 804, according to an example implementation of the current disclosure. The blade carrier 804 can include a pair of members 810 to engage, carry, hold or grip blades 510. In general, the blade carrier 804 can include any number of members 810, e.g., one or more members 810. Each member 810 can be referred to herein as an arm 810, a beam element or a gripping element. The pair of members 810 can be mechanically coupled to each other or can be extensions of a common structure to ensure synchronized motion of both members 810. Each member 810 can include acorresponding magnetic surface 816 providing a magnetic force to magnetically attract, magnetically hold and / or magnetically secure a blade 510 to the member(s) 810. As depicted in FIG. 8B, each magnetic surface 816 may be associated with a corresponding permanent magnet 818. For each magnetic surface 816, the corresponding permanent magnet 818 may be placed in a recess associated with the surface 816. In some implementations, each magnetic surface 816 may be associated with a corresponding coil to generate a magnetic field. For example, for each magnetic surface 816. the corresponding coil can be placed behind the surface 816. In some implementations, the magnetic surface(s) 816 can be associated with ferromagnetic plate(s).

[0212] In some implementations, the magnetic surface(s) 816 can be oriented or arranged at an inclination angle 9”, c.g., relative to a horizontal plane, when the blade carrier 804 is mechanically coupled or mounted to the feeder transport gantry 802. In some implementations, the angle 9” can be equal or substantially equal to the inclination angle 0 of the inclined surfaces 620 or the blades 510 when placed in the swapping station 506, the facing blade storage device 512 or the sectioning blade storage device 514. For example, the difference between the angles 0 and 0” can be less than or equal to 1 degree, 2 degrees or 3 degrees. The matching between the inclinations or orientations of the magnetic surface(s) 816 and the blade 510, e.g., placed in the swapping station 506, allows the magnetic surfaces 816 to come in full contact with the blade 510 and facilitates stronger magnetic interaction between the magnetic surface(s) 816 and the blade 510 when the magnetic surface(s) 816 come in close proximity to the blade 510.

[0213] Each member 810 can include a respective resting surface 820 to support the cutting blade 510. For example, each member 810 can include a respective protrusion element forming the respective resting surface 820 at the end of the magnetic surface 816 of the member 810. The resting surfaces 820 can act as alignment features or alignment elements to align the blade 510 horizontally when held by the members 810 or the respective magnetic surfaces 816. When the blade 510 is secured or attached to the magnetic surfaces 1216, the edge of blade 510 opposite to the cutting edge can rest on the resting surfaces 820. The resting surfaces 820 also prevent the blade 510 from sliding downward along the magnetic surfaces 816, reducing or eliminating the likelihood of the blade 510 falling off the blade carrier 804.

[0214] Each member 810 can include a respective torsion spring 822. Each torsion spring 822 can have a wire end 824 extending transverse to the corresponding magnetic surface 816. The torsion spring(s) 822 can be configured or positioned to align the blade 510 at the blade holder 508 when the blade carrier 804 releases the blade 510 at the blade holder 508. For each member 810, the respective torsion spring 822 can be arranged or positioned above the magnetic surface of the member 810.

[0215] FIG. 8D depicts a sequence of images (a)-(c) illustrating a process of placing or releasing the blade 510 by the blade carrier into the blade holder 508, according to an example implementation of the current disclosure. Tire blade holder 508 can include a respective inclined surface 826 and a resting surface 828 arranged at one end of the inclined surface 826. The resting surface 828 can be arranged transverse to the inclined surface 826. The resting surface 828 can be a horizontal surface configured or designed to receive an edge of the blade 510that is opposite to the cutting edge of the blade 510. The inclined surface 826 can have an inclination angle equal to, or substantially equal to, the inclination angle 0” of the magnetic surface(s) 816. The blade carrier 804 can move in a direction such that the blade 510 slides on or along the inclined surface 826 of the blade holder 508. Hie blade 510 can slide or move along a dimension of the inclined surface 826 until the edge of the blade 510 opposite to the cutting edge reaches and rests on the resting surface 828.

[0216] As the member(s) 810 or the respective magnetic surface(s) 816 move across the inclined surface 826 of the blade holder 508, the wire end 824 of the torsion spring 822 can push the blade 510 towards or against the resting surface 828. By pushing the blade 510 towards or against the resting surface 828, the torsion spring 822 or the corresponding wire end 824 can cause the blade 510 to be aligned horizontally with the resting surface 828. In other words, during the process of placing the blade 510 at the blade holder 508, the torsion spring(s) 822 and / or the respective wire end(s) 824 can push the blade 10 to ensure that the respective edge opposite to the cutting edge is resting on the resting surface 828 of the blade holder 508. The portions of the blade 510 that come in contact with the torsion springs 822 can be at extreme ends of blade 510 and may not be part of the cutting region(s) of the blade 510.

[0217] Tire blade holder 508 can include a pressure plate 830, also referred to herein as a pressure member. The pressure plate 830 can be configured or structured to exert a force or pressure on the blade 510 when the blade 510 is placed against the inclined surface 826 and is resting on the resting surface 828. Tire pressure plate 830 can move to a position such that a surface of the pressure plate 830 comes in contact with the blade 510 and press the blade 510 against the inclined surface 826. The pressure or force exerted by the pressure plate 830 on the blade 510 can cause the blade 510 to detach or decouple from the magnetic surface(s) 816. For example, once the pressure plate 830 presses the blade 510, the blade carrier 804 can move in a direction, e.g., transverse to the surface of the pressure plate that is in contact with the blade 510, such that the pressure or force exerted by the pressure plate 830 causes the blade 10 to be detached from the magnetic surface(s) 816.

[0218] In some implementations, to place the blade 510 in the blade holder 508, the blade carrier 804 can move along a dimension of the inclined surface 826 and towards the resting surface 828 such that the magnetic surface(s) 816 move beyond the resting surface 828, at least partially. As the magnetic surface(s) 816 starts to move past the resting surface 828, the resting surface 828 exerts a force on the edge of the blade in contact with the resting surface 828. The force exerted by the resting surface 828 on the blade 10 can cause the blade 510 to detach or decouple from the magnetic surface(s) 816.

[0219] FIG. 9 depicts an automated blade clamping system 900 for clamping blades 510 in the blade holder 508, according to an example implementation of the current disclosure. The system 900 can be mechanically coupled to the pressure plate 830 of the blade holder 508. In brief overview, the system 900 can include a clamping shaft 902 and a motor 904 to drive rotational motion of the clamping shaft 902. In general, the motor 904 or some other mechanism or actuator can cause the clamping shaft 902 to rotate, which in turn can cause the pressure plate 830 to clamp the blade 510 against the inclined surface 826 or unclamp the blade 510.

[0220] In some implementations, the clamping shaft 902 can include or can be mechanically coupled to an eccentric rotating cam. The cam may be arranged or positioned inside the blade holder 508. The cam can be mechanically coupled to or in contact with the pressure plate 830. When rotating, the clamping shaft 902 can cause the cam to rotate. As it rotates, the cam can apply or exert a force on the pressure plate 830 causing the pressure plate 830 to move or rotate towards or away from the inclined surface 826 or the blade 510 placed thereon.

[0221] The torsion spring 906 can be arranged, configured or structured to apply a clamping rotational force. In particular, the torsion spring 906 can act as a passive mechanical element when applying the clamping force. In other words, the torsion spring 906 can cause the default state of the pressure plate 830 to be the clamping state where the pressure plate 830 is pressing the blade 510 against the inclined surface 826. Hie torsion spring 906 can apply a rotational force on the clamping shaft 902 causing the pressure plate 830 to be pulled tow ards the blade 510 by the eccentric rotating cam mechanically coupled to the clamping shaft 902. The clamping of the blade 510 between the inclined surface 826 and the pressure plate 830 can secure the blade 510 during the cutting process.

[0222] To unclamp the blade, the motor 904 when actuated can apply a rotational force on the shaft 902 opposite to the clamping rotational force applied by the torsion spring 906. As such, the motor 904 can cause the shaft 902 to rotate in an opposite direction, compared to the rotation caused by the torsion spring 906. The opposite rotational motion can translate to a corresponding rotational motion of the clamping shaft 902. The eccentric rotating cam can rotate with the clamping shaft 902 and push the pressure plate 830 away from the blade 510 and the inclined surface 826.

[0223] In some implementations, the resting surface 828 can include one or more recess regions or pockets 832 to receive, at least partially, respective portion(s) of the member(s) 810. In particular, as the blade carrier 804 moves to place the blade 510 in the blade holder 508, the recess regions 832 allow the magnetic surface(s) 816 to move at least partially beyond the resting surface 828.

[0224] In some implementations, the resting surface 828 can have a length greater than a length of the blade 510 allowing for positioning or placing the blade 510 at various locations along or on the resting surface 828. As described in further detail in section E2 below, the placing of the blade 510 at various locations on or along the resting surface 828 facilitates maximizing the use of the entire blade area and thereby extending the operational life of the blade.

[0225] Referring now to FIGS. 10A-10C, various views of the blade holder 508 with the blade 510 clamped thereon, according to an example implementation of the current disclosure. FIG. 10A depicts a sectional view of the blade holder 508 w ith the blade 510 placed therein. FIG. 10B depicts different positions of the pressure plate 830 relative to the blade 510, and FIG. 10C illustrates placement of the blade 510 relative to a body of the blade holder 508.

[0226] Referring to FIG. 1 OA, a body 1002 of the blade holder 508 can be configured or structured to receive or support the blade. The body 1002 can include the resting surface 828 and the inclined surface 826. The blade holder can include a slot 1004 structured or configured to receive or host the clamping shaft 902 and the cam. When the motor 904 is not actuated, the rotational force applied by the torsion spring 914 can cause the clamping shaft 902 to be oriented such that a longitudinal dimension of the cam is perpendicular, or substantially perpendicular, to the arrow 1006 causing the pressure plate 830 to be pulled or move towards the body 1002 of the blade holder 508 as indicated by the arrows 1006 and 1008. The rotational force applied by the torsion spring 914 can cause the clamping shaft 902 to be oriented such that the longitudinal dimension of the cam is perpendicular, or substantially perpendicular, to a follower of the cam. As a result, the pressure plate 830 can come in contact with and exert pressure on the blade 510, causing the blade 510 to be clamped between the pressure plate 830 and the inclined surface 826. When actuated, the motor 904 can cause the clamping shaft 902 and the cam to rotate. As the cam rotates, the respective longitudinal dimension rotates towards a vertical orientation and the cam pushes the pressure plate 830 away from the body 1002 causing the blade 510 to be unclamped.

[0227] Tire blade holder 508 can be configured, structured, designed and / or arranged such that the rake angle of the blade 510 is fixed, e.g., equal to a defined angle. The rake angle can represent the angle of the blade 510 relative to a vertical direction. Tire rake angle can be optimized or selected to enhance the cutting quality of the blade 510 when clamped to the blade holder 508. When the blade 510 is clamped the respective rake angle can be fixed, and the clamping may not allow for rake angle variations.

[0228] FIG. 10B illustrates different scenarios for positions of the pressure plate 830 relative to the blade 510. In the leftmost scenario, the pressure plate 830 is positioned such that a top edge of the pressure plate 830 is almost aligned with the cutting edge of the blade 510. Having the cutting edge of the blade 510 being aligned with or too close to the top edge of the pressure plate 830 results in a degraded section-cutting quality of the clamped blade 510. The middle scenario depicts an optimal or desired positioning of the pressure plate 830 relative to the blade 510. In particular, the cutting edge of the blade 510 can extend beyond the top edge of the pressure plate 830 by a defined distance or a distance less than or within a defined threshold, e.g., less than 100 pm. In the rightmost scenario, the top edge of the pressure plate 830 rests too far from the cutting edge of the blade 510. The blade holder 508 can be designed such that the top edge of the pressure plate 830 rests at a desired distance from the cutting edge of the blade 510 as depicted in the middle scenario.

[0229] FIG. 10C depicts various views of the blade holder 508 with the blade 510 clamped therein, according to an example implementation of the current disclosure. In some implementations, the pressure plate 830 can press or come in contact with the blade 510 along a region aligned with the cutting region of the blade 510. The cutting region represents the portion of the blade 910 actually used for cutting sections of the tissue block 203. The cutting region of the blade can be viewed as the portion of the blade 910 coming in contact with the tissue block 203 when cutting sections. When the blade 510 is clamped to the blade holder 508, the cutting edge ortip of the blade can extend beyond the blade holder edges 1012 and 1014 representing the edge of the inclined surface 826 and the edge of the pressure plate 830, respectively. The cutting edge of the blade 510 can extend beyond the blade holder edge s 1012 and 1014 by a desired distance.

[0230] The blade 510, when clamped in the blade holder 508, can be submerged in a liquid medium 1016, such as water. A meniscus 1018 of the liquid medium 1016 can be aligned with the cutting edge or tip of the blade 510. The liquid medium 1016 allows for cooling the blade 510 or the respective cutting edge after each cut of section of the tissue block 203.EXAMPLE IMPLEMENTATION(S) - GRIPPING / UN- GRIPPING OF FERROMAGNETIC BLADES

[0231] Microtomy blades arc amongst the sharpest category of blades, and they can slice through human tissue with extreme ease. Also, blades wear out and need to be replaced quite frequently. Even when employing safeguard measures, any solution that involves the operator handling the blades still presents safety risks for the operator. Various operations such as replacing, shifting and / or aligning the blade 510, e.g., in the blade holder 508, put the operators at risk of cutting themselves with the blades. Furthermore, cleaning the blade edge periodically to remove buildup of wax during cutting of sections is also a hazardous task. Also, in a manual microtomy process, the operator can be exposed to the cutting edge of the blade during tissue block loading and section detachment from the blade during facing and / or sectioning, leading to risky situations for the operator.

[0232] The risks associated with handling the blades manually call for fully automated handling of the blades. However, automated handling of the blades 510 presents various technical challenges. First, gripping or holding a blade is a tricky technical problem. In particular, it is desired or expected to avoid contact with the sharp or cutting edge of the blade to avoid damage to the blade that would negatively affect the cutting quality of the blade 510. The gripping or holding of the blade 510 is expected to be sufficiently reliable and / or robust to avoid or mitigate the likelihood of the blade falling from the robotic system(s) carrying or holding the blade. Second, blade replacement is desired to be performed fast enough to maintain throughput of the microtomy process, which exacerbates the risk of potential damage to the blade 510. Finally, the blade 510 has to be clamped properly and accurately to avoid chatter defects in cut sections. For example, proper clamping calls for vertical alignment of the blade 510 to prevent or mitigate vibration of the blade and / or the respective tip, which usually leads to chatter defects sections cut by the blade 510. Also, if the portion of the blade 510 extending beyond the clamping structure(s) of the blade holder exceeds a defined level, sections cut by the blade 510 will show a chatter defect. If the portion of the blade 510 extending beyond the clamping structure(s) of the blade holder is too short, the tissue block 203 will not contact the cutting edge of the blade 510, but will rather ram against the back surface of the blade holder.

[0233] Implementations described herein allow fully automated handling of blades 510 within the microtomy system 100 and offer solutions to the above discussed technical problems. In particular, automated systems and methods described herein allow reliable and robust grabbing, transport and release of blades 510 within tire microtomy system 100. The systems and methods described herein employ magnetic coupling to grab and holdblades 510 to be transported. The incorporation of magnetic coupling, e.g., via magnetic surfaces, for secure blade attachment and transport between different locations in the microtomy system 100 ensures reliable, accurate, efficient and safe handling and / or management of the blades 510 without direct user intervention. Also, magnetic coupling provides or facilitates secure blade attachment even in liquid media. Tire implementations described herein represent a significant step forward in laboratory automation, offering a methodical approach that adheres to stringent operational standards while advancing the ease of use.

[0234] According to at least one aspect, a system can include a member with a magnetic surface and a robotic subsystem including the member. The robotic subsystem can cause the member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure, cause the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure, and cause the member to move in a direction that causes the second structure to exert a force on the blade causing the blade to detach from the member.

[0235] In some implementations, and as described in further detail below, the robotic subsystem can be or can include the blade I / O subsystem 504 or the feeder transport subsystem 216. The member can be a member of the blade carrier 522 of the blade I / O subsystem 504 or the blade carrier 804 of the feeder transport subsystem 216. Both blade carriers 522 and 804 can employ a magnetic coupling mechanism to grab and / or attach to blades 510.

[0236] As depicted in FIGS. 7B and 8B, each member 704 of the blade carrier 522 can include a respective magnetic surface 710, and each member 810 of the blade carrier 804 can include a respective magnetic surface 816. The magnetic surfaces 710 and 816 provide a magnetic force to magnetically attract, magnetically hold and / or pick up a blade 510. Each magnetic surface 710 can include or can be associated with a corresponding permanent magnet 712. Each magnetic surface 816 can include or can be associated with a corresponding permanent magnet 818.

[0237] In some implementations, the member can have a first inclination angle that matches a second inclination angle at which the blade is stored in the first structure. Tire second structure can exert a shearing force on the blade as the member moves in the direction. The member can include a resting surface transverse to the magnetic surface to accommodate a first side of tire blade. The inclination angles of the member and the blade storage in the first structure can be adjustable to accommodate different types of blades with varying geometries. This adjustability can allow for a wide range of blade designs and storage configurations. The member can be configured with multiple resting surfaces, each transverse to different magnetic surfaces, to support various blade orientations and sizes.

[0238] Tire system can include a spring configured to push the blade against a surface of the second structure. Tire second structure can include a resting surface that exerts a force on the blade, causing the blade to detach from the member. Hie spring can push the blade against the resting surface of the second structure. The spring can be adjustable or replaceable to vary the force applied to the blade, enabling the system to adapt to blades ofdifferent thicknesses and materials. This adjustability can allow for various blade detachment force requirements. The system can be equipped with sensors to monitor the force exerted on the blade, aid in detachment and prevent damage to the blade or the system.

[0239] In some implementations, the member can include a plurality of arms, and each arm can have a respective magnetic surface. Each arm of the plurality of anus can include a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade. The respective resting surfaces of the plurality of arms can be aligned with each other. The member can be designed to accommodate additional functional components, such as sensors or actuators, on the arms to further control the positioning and orientation of the blade. This inclusion can enhance precision in blade handling and expand the capabilities of the system in various applications. The alignment of the resting surfaces across the plurality of arms can be dynamically adjustable to adapt to blades of varying dimensions and shapes.

[0240] In certain implementations, a third structure can exert a clamping force on the blade using the spring. The third structure can be unclamped from the blade using a motor. The third structure can have a width that is less than a length of the blade, such that when the blade is inserted in a slot defined by the second structure, a portion of the blade can extend beyond the width of the third structure.

[0241] In some implementations, the robotic subsystem can cause the member to move towards the blade such that the magnetic surface of the member magnetically couples to a portion of the blade extending beyond the width of the third structure. The robotic subsystem can move the blade to a blade storage device including one or more blade storage slots. The portion of the blade can be a first portion. The second member can contact the blade along a second portion of the blade, and the second portion can be used to cut sections from one or more tissue blocks. Tire magnetic surface can include a permanent magnet.

[0242] As described above in relation to FIGS. 5A and 5B, the microtomy system 100 can include a blade pathway system 108, which includes subsystems or components involved in or facilitating the handling and management of blades 510 used for facing and / or sectioning of tissue blocks 203. The blade pathway system 108 can include the blade storage system 502, the blade I / O subsystem 504, the feeder transport subsystem 216, and the blade holder 508, which are involved in handling blades 510 within the microtomy system 100. The blade storage system 502 can include storage devices or storage compartments for storing new, used, and waste blades. The blade I / O subsystem 504 can be a robotic system configured, structured, designed and / or arranged to move the blades 510 between different storage devices of the blade storage system 502. The feeder transport subsystem 216 can transport blades 510 between the blade storage system 502 and the blade holder 508. The blade holder 508 can secure the blade 510 during facing or sectioning operations to cut sections from tissue blocks 203. Tire blade holder 508 can hold the blade 510 at fixed position while a block holder securing a tissue block 203 can move back and forth relative to the blade 510 causing tire blade to cut sections from the tissue block 203.

[0243] The blade pathway system 108 streamlines automatic management or handling of blades 510 within the microtomy system 100 and eliminates or significantly reduces the need for manual intervention, thereby increasing the safety and efficiency of the microtomy process. Tire automatic management or handling of the blades 510 can include automatic pick-up of blades 510 from the blade storage system 502 and automatic placement of blades 510 within the blade storage system 502, automatic transport of blades 510 between the blade storage system 502 and the blade holder 508, automatically securing a blade 510 in the blade holder 508, automatically shifting the position of a blade 510 within the blade holder 508, automatic replacement of the blade secured to the blade holder 508 and / or automatic monitoring of the state or cutting quality of a blade 510 used for sectioning or facing. Tire pick-up, release and transport of the blades 510 can be achieved using blade carriers 522 and 804, which employ a magnetic coupling mechanism to grab and hold blades 510.

[0244] As discussed above. FIG. 6A depicts the blade storage system 502. The blade storage system 502 can include the blade swap station 506, the facing blade storage device 512, the sectioning blade storage device 514 and the disposal storage device 516. The sectioning blade storage device 514 can store sectioning blades 602 to be used for tissue block sectioning. The sectioning blade storage device 514 can accommodate numerous blades (e.g., 10, 20, 30 or any other number of blades) to allow the microtomy system 100 to perform sectioning for extended periods of time and for a plurality of tissue blocks 203 without interruption to load new blades 510. The facing blade storage device 512 can store facing blades 604 to be used for tissue block facing. Facing blades 604 can be blades 510 that were previously used for sectioning. The facing blades 604 may not require the same degree of sharpness as the sectioning blades 602, but are expected to cut through the tissue block 203 without causing damage or undue wear to the tissue block 203. The disposal storage device 516 can store blades 612 to be discarded or disposed of. The sectioning blade storage device 514 and the disposal storage device 516 can be configured, structured, designed and / or arranged to move, e.g., slide along the linear structure 518 (e.g., linear motion guide), between an operational position and a loading position. The operator of the microtomy system 100 unload the disposal storage device 516 from blades 612 and load the sectioning blade storage device 514 with new blades 602 when the sectioning blade storage device 514 and the disposal storage device 516 are in the loading position.

[0245] Tire blade swapping station 506 can be configured, structured, designed and / or arranged as a temporary storage of blades 510 exchanged between the blade I / O subsystem 504 or the respective blade carrier 522 and the feeder transport subsystem 216 or the respective blade carrier 804. For example, the blade carrier 522 can pick up a first blade 510 from the facing blade storage device 512 or the sectioning blade storage device 514 and release the first blade 510 in a first slot of the blade swapping station 506 to be picked up by the feeder transport subsystem 216 to be secured at the blade holder 508. The feeder transport subsystem 216 can take a second blade 510 from the blade holder 508 and place the second blade 510 in a second slot of the blade swapping station 506. Hie feeder transport subsystem 216 can then pick up the first blade 510 from the first slot of the blade swapping station 506 to be secured in the blade holder 508. The blade I / O subsystem 504 orthe respective blade carrier 522 can pick up the second blade 510 from the second slot of the blade swapping station 506 and drop the second blade 510 in the facing blade storage device 512 or the disposal storage device 516.

[0246] The blade I / O subsystem 504 can transport blades 510 between storage device of the blade storage system 502. For example, the blade I / O subsystem 504 and the corresponding blade carrier 522 can transport blades 510 from the sectioning blade storage device 514 or the facing blade storage device 512 to the swapping station 506. The blade I / O subsystem 504 and the corresponding blade carrier 522 can transport blades 510 from the blade swapping station 506 to the facing blade storage device 512 or the disposal storage device 516.

[0247] FIG. 11 depicts different views of blade 510, according to an example implementation of the current disclosure. The blade 510 can be viewed as having a first cutting region 1102 and a second cutting region 1104. In particular, the blade 510 can be long enough to have two cutting regions 1102 and 1104. or more generally multiple cutting regions. In brief overview, the blade 510 can have a surface 1106, a cutting edge 1108, a clamping line 1110, a surface 1112 or bottom edge 1112 opposite to the cutting edge 1108, and a tip or sharpened region 1114. Tire clamping line 1110 can be referred to herein as a clamping level.

[0248] Tire first and second cutting regions 1102 and 1104 can represent or can include different portions of the cutting edge 1108. The first and second cutting regions 1102 and 1104 can be used sequentially to cut sections from the tissue block 203. For example, the first cutting region 1102 can be used until one or more criteria, e.g., related to detecting a degradation in the cutting quality of the first cutting region 1102 or the quality of sections cut by the first cutting region 1102, are satisfied. Once one more criteria indicative of degradation in the cutting quality of the blade are satisfied, the microtomy system 100 or the processor 112 can cause the blade carrier 804 to shift or move the blade 510 to switch to the second cutting region 1104. The microtomy system 100, the processor 112 and / or the blade pathway system 108 can be programmed to switch cutting regions after a specific number of sections have been cut. The count can be based on the average durability and wear characteristics of the blade material. In another implementation, the cutting regions may be switched based on a set time interval. By using both cutting regions efficiently before discarding the blade 510, the microtomy system 100 can utilize the full potential of the blade 510 and reduce cost and waste. Implementing a controlled use of blade regions can extend the operational life of each blade 510.

[0249] The surface 1106, e.g., on opposite sides of the blade 510, can be viewed as the region or area of contact with other devices, systems or structures. The blade carriers 522 and 804, the blade holder 508 and / or the wall structures 618 can be configured, designed, structured and / or sized to engage the blade 510 at the surface 1106. For example, the magnetic surfaces 712 and 818 of the blade carriers 522 and 804, respectively, can engage the blade 510 within the surfaces 1106 to secure, attach or magnetically couple the blade 510 to the blade carrier 522 or 804.

[0250] The tip 1114 can represent the sharpened region or portion of the blade 510. Hie cutting edge 1108 can represent the sharpest or thinnest side of blade 510 or the respective tip 1114. The cutting edge 1108 can comeinto contact with and cut through the tissue block 203, e.g., as the tissue block 203 moved across or transverse to the cutting edge 1108, to cut a section from the tissue block 203. The tip 1114 and / or the cutting edge 1108 can be made from high-grade steel or other durable materials that can maintain sharpness over many cuts.

[0251] The clamping line 1110 can represent the line or level where a top edge of the pressure plate 830 and / or the body 1002 is expected to be when the blade 510 is clamped or secured in the blade holder 508. In some implementations, the clamping line 1110 can represent a boundary of tip 1114. The clamping line 1110 can provide an indication of the portion, e g., tip 1 1 14, of the blade 510 expected to extend beyond the pressure plate 830 and / or the body 1002 when the blade 510 is clamped or secured in the blade holder 508.

[0252] Referring to FIGS. 10A-10C and 11, when the blade 510 is clamped or secured in the blade holder 508, the tip 1114 or sharpened region 1114 is expected to extend beyond the blade holder body 1002 and the pressure plate 830. The edge 1014 of the pressure plate 830 can be aligned with the clamping line 1110 of the blade 510. Similarly, the edge 1012 of the inclined surface 826 of the blade holder 508 can be aligned with the clamping line 1110 at an opposite side of the blade 510. The pressure plate 830 can apply a controlled force on the blade 510 or the blade surface 1106 against the inclined surface 826 of the blade holder 508 to secure the blade 510 firmly during the microtomy process. This pressure plate 830 can be precisely calibrated to control the force exerted by the pressure plate 830 and / or to align the top edge 1014 with the clamping line 1110.

[0253] FIG. 12 depicts arrangement or positioning of blades 510 at an inclined angle in various components or devices of the blade pathway system 108, according to an example implementation of the current disclosure. Referring now to FIGS. 6C and 12, storage areas or storage devices, e.g., the sectioning blade storage device 514, the facing blade storage device 512 and / or the swapping station 506 of the blade storage system 502 can be configured, structured, designed and / or arranged to store or maintain blades 510 at an inclined angle, e.g., angle 0. In some implementations, the inclined angle can be the same or substantially the same, e g., with 2%, 5% or 10% tolerance error, for the sectioning blade storage device 514, the facing blade storage device 512 and the swapping station 506. In particular, slots 616 of the sectioning blade storage device 514, the facing blade storage device 512 and the swapping station 506 can have respective wall structure 618 and / or respective inclined surfaces 620 arranged according to the same or substantially the same inclined angle 9. The blade 510 when placed in a slot 616 can be substantially aligned with and in contact with the inclined surface 620 of the slot 616. Configuring the storage devices 506, 512 and / or 514 to maintain or store the blades 510 at an inclined angle allows for easy access to the blades 510 by the blade carrier 522 and / or the blade carrier 804.

[0254] In some implementations, the inclined surface 826 of the blade holder 508 can be arranged at a similar, or substantially similar, inclination angle as the inclined surfaces 826 of the slots 616 of the sectioning blade storage device 514, the facing blade storage device 512 and / or the swapping station 506. Using the same, or substantially the same, inclination angle 0 allow transfer of the blades 510 between the storage devices 506, 512 and 514 and the blade holder 508 without rotating the blade carrier(s) 522 and / or 804 during blade transfer. By matching the inclination angles, the microtomy system 100 enhances operational efficiency, as it simplifiesthe mechanics of the blade transfer process, reduces the number of movements of the blade carrier(s) 522 and / or 804, and minimizes the risk of misalignment or damage to the blade during transfer. This can expedite the blade changing (e.g., blade switching) process.

[0255] In some implementations, the member(s) 704 and / or 810 can have respective inclination angles that match inclination angle(s) at which the blades 510 are stored or maintained in one or more devices of the microtomy system 100. FIG. 13A and 13B depict a match between the inclined angle according to which the blades are arranged or positioned in the various components or devices of the blade pathway system and an inclination angle of magnetic surfaces of blade carriers, according to an example implementation of the current disclosure. For example, FIG. 13A depicts a match between the inclination angle 0” of the magnetic surfacc(s) 816 of the blade carrier 804 and the inclination angle of the inclined surface 826 of the blade holder 508. During release or pick-up of the blade 510 at or from the blade holder 508, the blade surface 1106 can be in contact with the magnetic surface 816 on one side of the blade and in contact with the inclined surface 826 at an opposite side of the blade, which leads to reliable transfer of the blade 510 between the blade carrier 804 and the blade holder 508.

[0256] FIG. 13B depicts a match between the inclination angle 0’ of the magnetic surface(s) 710 of the blade holder 522 and the inclination angle 0 of the inclined surfaces 620 of the slots 616 of any of the blade storage devices 506. 512 and 514. During release or pick-up of the blade 510 at or from the slot 616, the blade surface 1106 can be in contact with the magnetic surface 710 on one side of the blade and in contact with the inclined surface 620 at an opposite side of the blade, which leads to reliable transfer of the blade 510 between the blade carrier 522 and the blade storage device 506, 512, or 514. Since tire blade carrier 804 picks up and releases blades from the swapping station 506, the inclination angle 0” of the magnetic surface(s) 816 of the blade carrier 804 can match, or substantially match, the inclination angle 6 of the inclined surfaces 620 of the slots 616 of the swapping station 506.

[0257] FIGS. 14A-14C show snapshots of a video sequence depicting a process of picking up and removing a blade 510 from the storage system 502, according to an example implementation of the current disclosure. The blade I / O subsystem 504 can cause the blade carrier 522 to move to a first position where the magnetic surfaces 710 of the members 704 are magnetically coupled to an exposed surface of a blade 510. In some implementations, the blade I / O subsystem 504 can first cause the blade carrier 522 to move to a position where the magnetic surfaces 710 of the members 704 are parallel (or substantially parallel) to and facing exposed region of the blade 510, as depicted in FIG. 14A. The blade I / O subsystem 504 can then cause the blade carrier 522 to move horizontally towards the blade 510 causing the magnetic surfaces 710 to come in contact with the exposed surface or regions of the blade 510, as depicted in FIG. 14B. The blade I / O subsystem 504 can then cause the blade carrier 522 to upward, e.g., along an inclined direction, with the blade 510 magnetically coupled to the magnetic surfaces 710, as depicted in FIG. 14C.

[0258] FIGS. 15A-15D show a sequence of images depicting a process of un-gripping, releasing or placing a blade in the blade storage system 502, according to an example implementation of the current disclosure. The blade I / O subsystem 504 can cause the blade carrier 522 with a blade 510 attached or magnetically coupled thereto towards a slot 616 of the blade storage system 502, such that the blade 510 moves into the slot 616 as depicted in FIGS. 15A-15C. The blade I / O subsystem 504 can cause the blade carrier 522 and the blade 510 attached thereto to move along a downward inclined direction parallel, or substantially parallel to. the wall structures 618. The inclined direction can be defined by the angle 0 shown in FIG. 6C. The blade carrier 522 can be positioned such that the blade 510 is aligned with and moves into a slot 616. In some implementations, the blade I / O subsystem 504 can cause the blade carrier 522 to keep moving along the downward inclined direction even after the bottom edge 1112 of the blade 510 reaches the bottom surface 626 of the slot. Hie bottom surface 626 of the slot 616 can exert a force on the blade 510 or on the edge 1112 of the blade 510 causing the magnetic surfaces 710 of the members 704 to slide downward along the surface 1106 of the blade 510. In some implementations, the force exerted on the blade 510 by the bottom surface 626 of the slot 616 can cause the blade to magnetically decouple, e.g., fully or partially, from the magnetic surfaces 710 of the members 704. The blade I / O subsystem 504 can cause the blade carrier 522 and / or the corresponding members 704 to move in a direction transverse to the wall structures 618. A wall structure 618 associated with the slot 616 can exert a force, e.g., a shearing force, cause the blade 510 to magnetically decouple or detach from the magnetic surfaces 710 or the members 704.

[0259] FIGS. 16A-16C show images depicting a process of un-gripping ablade 612 at disposal storage device 516, according to an example implementation of the current disclosure. Tire blade carrier 522 can pick a blade 612, e.g., from the swap station 506, that has been frilly used. The blade carrier 522 can move to a position where the blade 612 attached to the blade carrier 522 is positioned beneath a structure 1602 or a respective surface. Hie structure 1602 can be placed, fixed or arranged above the disposal storage device 516. Once the blade 612 is positioned or arranged beneath the structure 1602, the blade carrier 522 can move in a direction, e g., upward, such that the blade 612 moves towards the structure 1602. The structure 1602 or a surface thereof can come in contact with and exert a force on the blade 612 causing the blade 612 to be released or detached from the blade carrier 522. Once detached from the blade carrier 522, the blade 612 can land in the disposal storage device 516.

[0260] FIGS. 16D-16F depict a process for un-gripping a blade 612 at the disposal storage device 516. The blade carrier 522 can be actuated to transport the blade 612 to a designated position beneath a structure 1602 or a corresponding surface positioned above disposal storage device 516. The structure 1602 can be a fixed or movable element integrated within the blade disposal mechanism to facilitate controlled detachment of blade 612 from blade carrier 522. Once blade 612 is positioned beneath structure 1602, blade carrier 522 can be moved in a direction (e.g., upward) such that blade 612 contacts structure 1602. Hie force applied by structure 1602 onto blade 612 can cause displacement, leading to the blade being disengaged from blade carrier 522. Thedetachment process can be configured such that structure 1602 exerts force at a specific location on blade 612. After detachment, blade 612 can drop into disposal storage device 516, which can be configured to collect and store multiple discarded blades (e.g., used, damaged, misaligned). The disposal storage device 516 can be equipped with compartments or guiding elements to control the placement of detached blades, for example to prevent stacking misalignment and / or obstruction within the storage container. The processing circuits of microtomy system 100 can execute instructions to regulate movement sequences of blade carrier 522, facilitating blade disposal operations with other system components. The motion control parameters of blade carrier 522 (e.g., speed, positioning accuracy, detachment force) can be updated based on system requirements or real-time feedback from position sensors.

[0261] FIGS. 17A-17D show a sequence of images depicting horizontal alignment of blades 510 within a blade storage device, according to example implementation of the current disclosure. In some implementations, the horizontal alignment can be applied or performed for facing blades 604 within thin the facing blade storage device 512 or for blades 510 within the swapping station 506. For example, once one or more blades 602 are placed in the facing blade storage device 512 or one or more blades 510 are placed in the swap station 506, one or more actuators, e.g., one or more motors or springs, can the side walls 630 to move towards each other to horizontally align blades in the facing blade storage device 512 and / or the swap station 506. In some implementations, the horizontal alignment can be facilitated by springs or spring-like members coupled to the side walls 630 to cause alignment of side edges of the blades in the facing blade storage device 512 and / or the swap station 506.

[0262] New blades 602 for sectioning can be transferred from the sectioning blade storage device 514 to the blade holder 508, e.g., using the blade carriers 522 and 804. Once a cutting region of a blade, e.g., cutting region 1102, is determined to have been used up the blade carrier 804 shifted the blade 510 to utilize an alternate cutting region, e.g., cutting region 1104. In some implementations, tire processor 112 can use an image of a cut section, e.g., captured by camera 812, to assess the section cutting quality of the blade 510 and determine whether the current cutting region of the blade 510 has been used up. In some implementations, a vibration sensor attached to the blade holder 508 can be used to determine if the current cutting region of the blade 510 has been used up. For example, the processor 112 can analyze the frequency response of the vibration sensor when a section is being cut to determine whether the current cutting region of the blade 510 has been used up. The blade holder can clamp one cutting region while allowing the blade to be positioned in one of two unique positions for cutting, with the potential to accommodate more positions if designed accordingly.

[0263] FIGS. 17E-17H depict a sequence of operations for aligning an asymmetrically positioned blade 612 within blade carrier 522 using a two-step alignment process. When blade 612 is lifted by blade carrier 522, the initial orientation and degree of asymmetry can be arbitrary due to variations in handling or prior positioning. The alignment process can begin by determining an initial corrective motion based on predefined positioning tolerances or sensor feedback. In the first step, blade carrier 522 can be actuated to move blade 612 towardaligner wall 530 along a controlled trajectory. The movement of blade carrier 522 can be configured such that blade 612 first contacts aligner wall 530 on one side (e.g., left or right). Upon contact, continued motion of blade carrier 522 can result in displacement of blade 612 within blade carrier 522, shifting tire blade into a secondary asymmetric position where it is misaligned only in the opposite direction. A stopping position for this motion can be determined based on mechanical constraints of blade carrier 522 and aligner wall 530. Once blade 612 reaches the secondary asymmetric position, the second step of the alignment process can be executed. Blade carrier 522 can be moved laterally across aligner wall 530 to position blade 612 on the opposite side of aligner wall 530. Tire blade carrier 522 can then be moved toward aligner wall 530 in a controlled maimer, causing blade 612 to contact the wall once again. The continued motion of blade carrier 522 toward aligner wall 530 can displace blade 612 incrementally until it reaches a centered position within blade carrier 522. Hie stopping position for this motion can be determined such that blade 612 is symmetrically positioned relative to the gripping elements of blade carrier 522. The processing circuits of microtomy system 100 can execute instructions to perform real-time and / or near real-time monitoring of blade position using sensors or imaging systems (e.g., optical encoders, vision-based edge detection) to verify proper alignment before proceeding with blade installation into the cutting assembly. The two-step aligmnent process can be integrated into the overall blade handling sequence, facilitating movements of blade carrier 522 with blade storage, transport, and sectioning operations. The processing circuits can store alignment parameters (e.g., correction distances, displacement limits, contact force thresholds) in memory, updating movement sequences based on system calibration data or real-time error correction feedback.

[0264] In various implementations, the system can include a blade carrier 522 having a magnetic surface and configured to transport a blade 612 to a detachment position beneath a structure 1602 disposed above a blade disposal storage device 516. The magnetic surface of the blade carrier 522 can magnetically couple to an exposed surface of the blade 612 (e.g., rear surface) such that the blade remains secured during transport. The blade carrier 522 can move along a trajectory (e.g., vertical direction) toward the structure 1602. Contact between the blade 612 and the structure 1602 applies force at a defined location of the blade, decoupling the blade from the magnetic surface. The structure 1602 can be fixed or movable and can include a contact surface positioned to exert force when engaged by the blade 612. After detachment, the blade 612 can fall vertically into the blade disposal storage device 516. The blade disposal storage device 516 can include internal dividers or compartments (e.g., plastic guide rails, metal fins) to manage blade positioning and prevent stacking interference during collection.

[0265] In various implementations, the system can further include an alignment mechanism including an aligner wall 530 configured to receive lateral contact from a blade 612 held by the blade carrier 522. The blade carrier 522 can move the blade 612 laterally along a first axis toward the aligner wall 530 such that a first edge of the blade contacts the aligner wall. Continued movement can displace the blade 612 within the gripping region of the blade carrier 522, resulting in an intermediate asymmetric configuration. The blade carrier 522can then be repositioned to move the blade 612 in the reverse direction, again contacting the aligner wall 530 from the opposite side. As the blade 612 is incrementally pushed against the aligner wall during this second movement, the blade 612 can be shifted to a centered position relative to the gripping elements of the blade carrier 522. Sensors or imaging systems (e g., optical encoders, vision-based alignment cameras) can detect blade position before, during, and after contact to determine when the blade 612 has reached an aligned state. The alignment process can be executed automatically prior to blade insertion or transport, and motion parameters (e.g., displacement thresholds, contact forces, end positions) can be stored and adjusted by the processing circuits based on system calibration.

[0266] FIG. 18 illustrates a flow diagram of a method 1800 of picking up and releasing a blade 510, according to an example implementation of the current disclosure. The method 1800 can be implemented using any one or more of the components and devices described herein. At STEP 1802. a robotic subsystem can cause a member having a magnetic surface to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure. At STEP 1804, the robotic subsystem can cause the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure At STEP 1806, the robotic subsystem can cause the member to move in a direction such that the second structure exerts a force on the blade causing the blade to detach from the member.

[0267] Method 1800 can be implemented according to any of the features described herein in relation with gripping and / or un -gripping of ferromagnetic blades. The robotic subsystem can include the blade I / O subsystem 504, the blade carrier 522, the feeder transport subsystem 216, the feeder carrier device 202 or the blade carrier 804. Tire member can include the blade carrier 522, the feeder carrier device 202, the blade carrier 804, member 704 or member 810.

[0268] At STEP 1802, the robotic subsystem can move a member with a magnetic surface into contact with a blade stored in a first structure. That is, the robotic subsystem can align the magnetic surface of the member with the exposed surface of the blade to establish magnetic coupling. For example, the blade carrier 522 can move along a predefined trajectory to position the magnetic surface against the blade within the blade storage subsystem. In this example, sensors within the robotic subsystem can detect when the blade has been magnetically coupled to confirm successful attachment. Additionally, the robotic subsystem can adjust the positioning of the member to compensate for any detected misalignment before proceeding to the next step.

[0269] At STEP 1804, the robotic subsystem can move the member from the first position to a second position while retaining the blade magnetically coupled to the member. That is, the robotic subsystem can transport the blade along a controlled path toward a second structure designed to receive the blade. For example, the feeder transport subsystem 216 can carry the blade from tire blade storage subsystem to the cutting assembly. In this example, the robotic subsystem can adjust the speed and trajectory of movement to prevent unnecessaryoscillations or misalignment. Additionally, position tracking sensors can provide real-time feedback to verify the blade reaches the intended placement location within predefined tolerances.

[0270] At STEP 1806, the robotic subsystem can move the member such that the second structure applies force to the blade, detaching it from the magnetic surface. That is, the robotic subsystem can position the blade in contact with the second structure and execute a release action. For example, the blade carrier 804 can lower the blade onto a blade holder within the cutting assembly while the feeder carrier device 202 moves to counteract residual magnetic attraction. Tn this example, the robotic subsystem can verify detachment using force sensors or imaging feedback. Additionally, the system can adjust the release trajectory to prevent unintended blade movement after detachment.EXAMPLE IMPLEMENTATION(S) - SYSTEMS AND METHODS OF STORING BLADES POST SECTIONING AND REUSING THEM FOR FACING

[0271] Blades 510 wear out overtime as they are used to cut sections. As a blade 510 wears out, the sections cut by the blade 510 start to show or depict various defects. Even in a microtomy process, operators usually monitor the section quality for two distinct defects, which are knife lines on the section caused by nicks on the blade and excessive compression of sections caused by blunt blades. Whenever these defects start appearing the operator replaces the blade with a fresh one. Microtomy blades can be damaged fairly easily or may become blunt. In such cases it is imperative to replace the blade to get good quality sections.

[0272] Implementations described herein facilitate automated detection of degradations in the cutting quality of a blade 510 and automated replacement or shifting of the blade 510 using robotic systems, responsive to a detected degradation in the cutting quality of the blade 510. The microtomy system 100 can include one or more cameras to capture images of sections cut by the blade 510. The microtomy system 100 can use images captured by the camera(s) and intelligent algorithms, e.g.. image processing algorithms, to identify defects in the section caused by the blade 510. Tire microtomy system 100 or the processor 112 can trigger a blade replacement process / protocol or a blade shifting process / protocol responsive to a detected section defect.

[0273] The image-based defect detection algorithms provide an objective and reliable approach for detecting blade degradation. The detection algorithms together with the parametric feedback loop trigger blade replacement / shifting to facilitate utilization of blades fully without compromising quality of the sections cut. Human operators often do not get this balance right. Also, the automated replacement and / or shifting of blades is faster and safer than manual blade replacement.

[0274] According to at least one aspect, a system can include one or more processors coupled to memory. The system can interrupt a sectioning process performed by a cutting subsystem responsive to determining to replace a first blade with a second blade. The system can cause, responsive to determining to replace the first blade with the second blade, the first blade to be moved from a blade holder to a first blade storage container. The system can cause the second blade to be moved from a second blade storage container and secured at the blade holder to complete the sectioning process. The system can cause responsive to determining to initiate a facingprocess for a second tissue block, the first blade to be moved from the first blade storage container and secured at the blade holder. The system can initiate the facing process using the first blade.

[0275] Referring now to FIGS. 19A, various aspects of the section pathway system 104, according to an example implementation of the current disclosure. The section pathway system 104 can include the pool subsystem 208, one or more cameras, such as camera 812, a block holder 1902 to hold or secure the tissue block 203 for facing or sectioning. In some implementations, the block holder 1902 can be part of the block pathway system 102. In some implementations, the pool subsystem 208 can include a ring pool 1904 having the main pool 1906. The blade holder 508 can be positioned and / or arranged in the main pool 1906. The blade holder 508 and the blade 510 secured in the blade holder 508 can be submerged in a liquid, e.g., water, within the main pool 1906.

[0276] The block holder 1902 can move back and forth opposite or transverse to the cutting edge 1108 of the blade 510 secured in the blade holder 508. With each cutting stroke, the blade 510 or the respective cutting edge 1108 cuts a new section from the tissue block 203. Once a section is cut, the section can still be attached to the cutting edge 1108 of tire blade 510 and can float on the surface of the liquid.

[0277] Tire camera 812 can be positioned to monitor and capture real-time images of the tissue sections cut, e.g., during sectioning, from the tissue block 203. For example, and as depicted in FIGS. 8A and 19A, the camera 812 can be positioned or arranged to be facing the main pool 1906. Once a new section is cut from the tissue block 203, the camera 812 can capture one or more images of the section floating on the liquid surface. In some implementations, the microtomy system 100 can include one or more sensors to detect that a section has been fully cut from the tissue block 203. For example, the sensor(s) can include a positioning sensor to detect the block holder 1902 or the tissue block 203 at a defined position, e.g., a defined vertical position, indicating that a new section has been fully cut from the tissue block. The sensor(s) can send an indication to the processor of the new cut section, and in response the processor 112 can trigger or cause the camera 812 to capture one or more images of the sections. The camera 812 can send the captured image(s) to processor for processing or image analysis to detect potential defects in the section.

[0278] Tire processor 112 can use the image(s) captured by the camera 812 to assess the quality of the section and / or detect defects therein. Tire processor 112 can detect based on tire captured image(s) or analysis of the captured image one or more imperfections or signs of wear on the blade 510. For example, knife lines in the section can be indicative of nicks on the blade. Also, excessive compression of the section can indicate that the blade 510 that cut the section is blunt.

[0279] FIG. 19B shows images 1990 and 1992 of a section with knife lines or blade lines. Nicks on the blade 510 cause knife lines 1993 to appear on sections cut by the blade 510. As discussed below in relation FIG. 20 A, images of cut sections can be used to detect knife lines. When knife lines are detected, e.g., above a certain threshold, it means that the cutting edge or cutting region of the blade 510 has been damaged and may include nicks.

[0280] FIG. 20A illustrates a flowchart of a method 2000A for knife lines detection, according to an example implementation of the current disclosure. At STEP 2002, the method 2000A can include the camera 812 capturing an image of a section cut from the tissue block 203. The processor 112 can detect that a section was cut by the blade 510, e.g., based on position of the tissue block 203 or the block holder, and in response can trigger or cause the camera 812 to capture one or more images of the section. Tire camera 812, at STEP 2001, can capture an image of the main pool 1906 without any section therein, e.g., prior to the start of the sectioning process. At STEP 2003, the processor 1 12 can determine that the section is located or floating on the surface of the liquid or water in the main pool 1906, e.g., responsive to detecting that the section was cut.

[0281] At STEP 2001, the processor 112 can capture a baseline image of the main pool 1906 before any sections are introduced. That is, the processor 112 can acquire an image to be used as a reference for subsequent image processing steps. For example, the camera 812 can be triggered by the processor 112 to capture an image of the empty pool at a predefined time before the sectioning process begins. Additionally, the processor 112 can store this baseline image in emory for later subtraction during mask generation.

[0282] At STEP 2002, the processor 112 can detect the cutting of a section and trigger image capture. That is, the processor 112 can determine when a section has been sliced and instruct the camera 812 to capture an image of the floating section. For example, position sensors tracking the movement of the block holder 908 can signal the completion of a cutting operation, prompting the processor 112 to capture an image. Additionally, the processor 112 can retrieve timestamped position data to correlate the captured image with a specific sectioning event.

[0283] At STEP 2003, the processor 112 can analyze the captured image to confirm the presence of a section in the main pool 1906. That is, the processor 112 can process the image data to identify the position of the section relative to the pool surface. For example, edge detection techniques can be applied to differentiate the section from the background. Additionally, the processor 112 can compare the captured image with the baseline image from STEP 2001 to isolate new elements in the scene.

[0284] At STEP 2004, the processor 112 can generate a mask of the section. The processor 112 can generate the mask by subtracting the image of the empty pool, e.g., background image captured at STEP 2001, from the image of the section captured at STEP 2002. The mask defines the image area corresponding to the section.

[0285] At STEP 2004, the processor 112 can generate a mask defining the boundaries of the section. That is, the processor 112 can apply image subtraction techniques to remove the background and extract the section from the image. For example, pixel intensity differences between the baseline image from STEP 2001 and the section image from STEP 2002 can be used to highlight the shape of the section. Additionally, the processor 112 can refine the mask using morphological operations to eliminate noise and enhance contour definition.

[0286] At STEP 2006, the processor 112 can overlay the created mask onto the original image of the section, and remove the background from the image of the section. Removing the background can restrict the detection of image features of interest, e.g., lines, to the section region. For example, image features associated with theliquid in the main pool 2306 can be eliminated or removed by removing the background. Removing the background from the image of the section allows for a clear view of the section and any potential defects present therein, such as knife lines.

[0287] At STEP 2006, the processor 112 can apply the mask to isolate the section region in the image. That is, the processor 112 can retain only the pixels within the section boundary defined by the mask and disregard pixels outside the mask. For example, the processor 112 can perform a pixel-wise multiplication of the mask and the original image to generate a cropped section image. Additionally, the processor 1 12 can store the masked image in memory for subsequent edge detection or feature extraction.

[0288] At STEP 2008, the processor 112 can determine a rotated rectangle that fits or bounds around the section mask tightly. The processor 112 can use a rectangle, or other shape, with a size similar or close to the size of the section. The processor 112 can try various rotated versions of the rectangle to detennine the version that bounds or encloses the section mask tightly. The processor 112 can determine a rotation angle of the section or the image of the section based on the rotated version of the rectangle that fits the section mask better than other rotated versions of the rectangle.

[0289] At STEP 2008, the processor 112 can detennine a rotated rectangle that fits tightly around the section mask. That is, the processor 112 can analyze the mask to detennine the optimal or desired bounding box orientation. For example, multiple rotated bounding boxes can be generated and compared to find the bestfitting one. Additionally, the processor 112 can compute the rotation angle required to align the orientation of the section with the image frame.

[0290] At STEP 2010, the processor 112 can rotate the image by the determined rotation angle. The rotation of the image can be used, e.g., by the processor 112, to correct for any unintended rotation of tire camera 812. By rotating the image, vertical lines in the actual section will show up as vertical lines in the image of the section leading to a more accurate and reliable detection of vertical edges or lines in the image.

[0291] At STEP 2010, the processor 112 can rotate the image by the determined rotation angle. That is, the processor 112 can adjust the image alignment to standardize section orientation for further analysis. For example, image transformation functions can be used to apply the calculated rotation while preserving section integrity. Additionally, the processor 112 can verify the rotation by checking the alignment of vertical features within the adjusted image.

[0292] At STEP 2012, the processor 112 can employ vertical edge detection to identify any vertical variations in the form of edges within the section. Vertical edges in the image corresponding to the section can be indicative of knife lines caused by nicks on the blade 510.

[0293] At STEP 2012, the processor 112 can apply vertical edge detection to identify potential knife lines in the section. That is, the processor 112 can process the rotated image to extract linear features indicative of blade imperfections. For example, gradient-based filters can be used to highlight vertical transitions in pixel intensity.Additionally, the processor 1 12 can segment detected edges based on continuity and length to differentiate knife lines from other section artifacts.

[0294] At STEP 2014, the processor 112 can evaluate whether the number of vertical edges detected is significant and / or whether they cover the full section, a condition that can suggest the presence of knife lines. For example, the processor 112 can count or determine the number of vertical edges in the section. The processor 112 can determine a percentage area of the section having vertical edges. The processor can compare the number of detected edges and / or the percentage area of the section including detected edges with corresponding threshold(s) values.

[0295] At STEP 2014, the processor 112 can evaluate detected vertical edges to determine whether they indicate significant knife line defects. That is, the processor 112 can quantify the extent of vertical artifacts and compare them against predefined thresholds. For example, the total number of vertical edges can be counted and analyzed for spatial distribution across the section. Additionally, the processor 112 can compute the percentage of the section area affected by detected knife lines to classify section quality.

[0296] The processor 112 can determine presence of knife lines in the section if the detected edges, e.g., vertical or substantially vertical edges, in the image satisfy one or more criteria. For example, the processor 112 can detect presence of knife lines in the section if the number of detected edges exceeds a corresponding first threshold value and / or the percentage area of the section associated with detected edges exceeds a corresponding second threshold value. In some implementations, the processor 112 can determine that knife lines are not present if the detected edges do not satisfy one or more of the criteria indicating that the edges are significant and / or they cover a significant portion of the section. Another criteria can be whether the detected edges run across the full length or substantially the full length of the section. For example, the processor 112 can determine a length of an image area of the section including detected edges and can compare the length of the edge area to a corresponding third threshold value. Detection of knife lines in the section can indicate that the blade 510 may be damaged and should be replaced, or shifted, to maintain the integrity of the sectioning process.

[0297] FIG. 20B show s a flowchart of a method 2000B for section compression detection, according to an example implementation of the current disclosure. Tire method 2000B can be performed or executed by the processor 112. Excessive compression of a section is typically caused by a blunt blade. As such, detection of excessing compression of a section can indicate that the blade that cut the section is or may be blunt. The processor 112 can detect excessive compression of the section based on an image of the section captured by the camera 812. STEPS 2021, 2022, 2023 and 2024 can be similar to STEPS 2001, 2002, 2003 and 2004 of method 2000A of FIG. 20A.

[0298] At STEP 2021, the processor 112 can capture a reference image of the empty background without a section. That is. the processor 112 can acquire an image to be used as a baseline for section detection. For example, the camera 812 can be triggered by the processor 112 at a predefined time before the sectioningprocess begins to store a reference frame. Additionally, the processor 1 12 can store this baseline image in memory for later subtraction when identifying sections in subsequent images.

[0299] At STEP 2022, the processor 112 can capture an image of the section after it has been cut. That is, the processor 112 can detect tire presence of the section and initiate image acquisition. For example, movement data from the block holder 908 can signal tire completion of a cutting cycle, prompting the processor 112 to command the camera 812 to capture the section. Additionally, the processor 112 can timestamp the image and correlate it with sectioning cycle data for tracking purposes.

[0300] At STEP 2023, the processor 112 can determine the location of the section within the system (e.g., on a slide, in water). That is, the processor 112 can analyze the captured image to detect whether the section is floating in the main pool 1906 or placed on a slide. For example, the processor 112 can use image segmentation to identify the contrast of the section against the liquid or slide background. Additionally, the processor 112 can track section movement over time to classify its final resting location.

[0301] At STEP 2024, the processor 112 can generate a section mask based on the detected location. That is, the processor 112 can apply image processing techniques to isolate the section from the background. For example, the processor 112 can subtract the reference image captured at STEP 2021 from the section image captured at STEP 2022 to define the contour of the section. Additionally, the processor 112 can refine the mask using edge-detection algorithms to enhance accuracy.

[0302] At STEP 2026, the processor 112 can measure or determine one or more dimensions of the section using the section mask. For example, the processor 112 can determine the length and width of the section mask. In some implementations, the processor 112 can determine the dimension(s) of the mask in pixels.

[0303] At STEP 2026, the processor 112 can measure or determine the dimensions of the section using the section mask. That is, the processor 112 can extract geometric properties of the section from the mask data. For example, the processor 112 can compute the length and width of the section in pixels by analyzing the bounding box of the detected mask. Additionally, the processor 112 can store these measurements for later comparison against expected section dimensions.

[0304] At STEP 2028, the processor 112 can determine expected dimension(s), e.g., length and width, of the section. Tire processor 112 can use an image of the tissue block 203 right before or right after the section is cut. The image can be captured by another camera facing the tissue block 203. The processor 112 can detennine a boundary of the front side of tire tissue block 203 in the captured image and detennine the dimension(s) of the front side of the tissue block 203 based on the determined boundary. The dimension(s) of the front side of the tissue block 203 correspond to or represent the expected dimension(s) of the section if the section does not undergo some fonn of compression. In some implementations, the processor 112 can determine the expected dimension(s) of the section in tenns of image pixels. In some implementations, the processor 112 can receive the expected dimension(s) of the section as input from a user of the microtomy system, e.g., via a user interface or an input device. The user can enter one or more dimensions of the tissue block 203 indicative of the expecteddimension(s) of the section. In some implementations, the processor 1 12 can determine the expected dimension(s) of the section based on an image of the tissue block 203 captured at the end of the facing process. In some implementations, the processor 112 can determine the expected dimension(s) of the section using an image of a previous section cut from the tissue block 203.

[0305] At STEP 2028, the processor 112 can determine the expected dimensions of the section. That is, the processor 112 can estimate the original size of the section before compression based on prior image data. For example, an image of the tissue block 203 captured before sectioning can be analyzed to determine the expected width and length of the cut section. Additionally, the processor 112 can compare these expected dimensions against stored calibration data for validation.

[0306] At STEP 2030, the processor 112 can use camera parameters or settings, such as micrometers per pixel (mpp), of the camera 812 and / or the camera facing the tissue block 203 to convert the dimension(s) of the section mask and the expected dimension(s) of the section to a same scale. In some implementations, the processor can use the distance of the camera 812 from the liquid surface and / or the distance between the tissue block 203 and the camera facing the tissue block 203 to scale the dimension of the section mask and / or the expected dimension(s) of the section. Converting the expected dimension(s) of the section and the dimension of the section mask to the same scale allows for accurate and reliable comparison of the expected dimension(s) of the section and the dimension of the section mask. Converting the dimensions to the same scale can include converting the expected dimension(s) of the section and the dimension of the section mask into actual units of length, e.g., meter.

[0307] At STEP 2030, the processor 112 can convert the section mask dimensions and expected dimensions to a common scale. That is, the processor 112 can use camera calibration parameters to standardize measurements. For example, micrometers per pixel (mpp) values of the camera 812 and the camera facing the tissue block 203 can be applied to adjust image-based measurements into real-world units. Additionally, the processor 112 can use known distances between cameras and objects to refine scaling accuracy.

[0308] At STEP 2032, the processor 112 can determine the difference(s) between the expected dimensions(s) of the section and the dimension(s) of the section mask. Tire processor 112 can compare the difference(s) to corresponding defined threshold value(s). If the difference betw een the expected dimensions of the section and the dimension of the section mask is / are below corresponding threshold(s), the processor 112 can detennine that the section did not undergo compression. If the difference(s) exceed the corresponding threshold value, the processor 112 can determine that section has undergone compression. Detection of section compression can be indicative of a blunt blade.

[0309] At STEP 2032, the processor 112 can compute the difference between the expected and measured section dimensions to detect compression. That is, the processor 112 can compare the actual section dimensions against its expected size and evaluate deviations. For example, if tire width of tire measured section is significantly smaller than the expected width, the processor 112 can classify the section as compressed.Additionally, the processor 1 12 can determine whether the detected compression exceeds predefined thresholds indicative of a dull blade.

[0310] Tire processor 112 can interrupt the sectioning process performed by tire blade 510 and the block holder 1902 responsive to determining to replace first blade 510 in the blade holder 508 with a second blade 510. For example, the processor 112 can cause the block holder 508 to stop moving relative to blade 510 secured in the blade holder 508. In some implementations, the processor 112 can stop relative movement between the block holder 1902 and the blade 510 secured in the blade holder 508.

[0311] The processor 112 can cause, responsive to determining to replace the blade 510 in the blade holder 508 with another blade 510, the blade 510 secured in the blade holder 508 to be moved from tire blade holder 508 to a first blade storage container, e.g., the swap station 506. the facing blade storage device 512 or the disposal storage device 516. The processor 112 can cause or trigger the pressure plate 830 of the blade holder to retract away from the blade 510 and cause the blade carrier 804 to grab or pick up the blade 510 from the blade holder 508. The processor 112 can cause the feeder transport subsystem 216 to move the blade carrier 804 with the blade 510 towards the blade storage system 502. The processor 112 and the feeder transport subsystem 216 can cause the blade carrier 804 to drop or release the blade 510 in the swapping station 506 or a respective slot.

[0312] The processor 112 can cause the blade I / O subsystem 504 and the blade carrier 522 to pick a second blade 510 from the sectioning blade storage device 514 and place the second blade 510 in another slot 616 of the swapping station 506. The processor 112 can cause the blade carrier 804 and the feeder transport subsystem 216 to pick up the second blade 510 from the swapping station, move the second blade 510 to the blade holder 508 and place the second blade 510 in the blade holder 508, e.g., as discussed in relation to FIG. 8D. The processor 112 can cause the pressure plate 830 of the blade holder to move and secured the second blade against the inclined surface 826. The processor 112 can cause the blade I / O subsystem 504 and the blade carrier 522 to pick up the blade released by the blade carrier 804 in the swapping station and place it in the facing blade storage device 512.

[0313] Tire processor 112 can cause a response to determine to initiate a facing process for a second tissue block, the first blade to be moved from the first blade storage container and secured at the blade holder. The system can initiate the facing process using the first blade.

[0314] In some implementations, the processor 112 can include the first blade storage container and the second blade storage container: the blade holder; the tissue block holder; and the cutting subsystem that can cause the blade holder and the tissue block holder to move relative to one another to cause the first blade to generate sections from the first tissue block.

[0315] Tire first blade storage container and the second blade storage container can be part of the same blade storage container. The first blade storage container can be different from tire second blade storage container.

[0316] In certain implementations, the first blade storage container stores blades that can be used in facing processes for facing tissue blocks 203. Tire second blade storage container stores blades that can be used in sectioning processes for sectioning tissue blocks. For example, the first blade storage container can be the facing blade storage device 512 and the second blade storage container can be the sectioning blade storage device 514.

[0317] In some implementations, the system can include a swap station, e.g., swapping station 506, including at least two slots for receiving at least two blades. The one or more processors 112 can cause, responsive to determining to replace the first blade with the second blade, the second blade to be moved from the second blade storage container to the swap station. The one or more processors can cause, responsive to determining to replace the first blade with the second blade, the first blade to be moved from the blade holder to the swap station. The one or more processors can cause the second blade to be moved from the swapping station 506 and secured at the blade holder 508 to complete the sectioning process. The one or more processors 112 can cause the first blade to be moved from the swapping station 506 to the first blade storage container.

[0318] In some implementations, a first robotic device, e.g., blade carrier 804, can move blades 510 between the blade holder 508 and the swapping station 506. A second robotic device, e.g., blade carrier 522, can move blades 510 between the swap station 506 and at least one of the first blade storage container or the second blade storage container, e.g., storage devices 512 or 514. Movement of the second blade from the second blade storage container to the swap station can overlap in time with movement of the first blade from the blade holder to the swap station 506. Movement of the second blade from the swap station 506 to the blade holder 508 can overlap in time with movement of the first blade from the swap station 506 to the first blade storage container.

[0319] In certain implementations, movement of the second blade from the second blade storage container to the blade holder can overlap in time with movement of tire first blade from the blade holder to the first blade storage container.

[0320] The one or more processors 112 can be further configured to cause, responsive to completion of the facing process for the second tissue block, the first blade to be moved from the blade holder 508 to a third blade storage container, e.g., disposal storage device 516, designated to store blades to be disposed of.

[0321] FIGS. 21A-21C show a sequence of images depicting switching cutting regions of a blade 510 510, according to the example implementation of the current disclosure. The processor 112 can cause the pressure plate 830 to retract or move away from the blade 510 and cause the blade carrier 804 to pick up the blade 510 from the blade holder 508. The processor 112 can cause the blade carrier 804 to move with the blade 510 in a direction parallel to the inclined surface 826 of the blade holder 508. The processor 112 can cause the blade carrier 804 to place or release the blade 510 back in the blade holder 508 with a different cutting region of the blade 510 aligned with the pressure plate or arranged for cutting sections.

[0322] After utilization of all cutting regions for sectioning, each blade can undergo an evaluation for a quality score to judge its suitability for use in facing blades. Tire scores are recorded, and tire blades with the top scores are placed into the facing blade tray. As new blades are consumed for sectioning, any blade with a score higherthan those in the facing tray can replace the blade with the lowest score. Tire displaced blade with the lowest score can be discarded into the waste (disposal) blade tray. The blades can be reused for facing operations in subsequent batches, optimizing the use of blades within the system and contributing to both the quality of tissue sections and the conservation of resources.

[0323] According to at least one aspect, a method can include interrupting, by one or more processors coupled to memory, a sectioning process performed by a cutting subsystem responsive to determining to replace a first blade with a second blade. The method can include causing, by the one or more processors, responsive to determining to replace the first blade with the second blade, the first blade to be moved from a blade holder to a first blade storage container. Tire method can include causing, by the one or more processors, the second blade to be moved from a second blade storage container and secured at the blade holder to complete the sectioning process. Tire method can include causing, by the one or more processors, responsive to determining to initiate a facing process for a second tissue block, the first blade to be moved from the first blade storage container and secured at the blade holder. The method can include initiating, by the one or more processors, the facing process using the first blade.

[0324] FIG. 22 illustrates a flow diagram of a method 2200 of an example method for managing blade replacement in a tissue sectioning system. This method 2200 can streamline the process of switching between blades when one becomes unfit for use and is orchestrated by one or more processors that are coupled to memory.

[0325] At STEP 2202, the processor 112 can interrupt a sectioning process conducted by a cutting subsystem when it is determined that there is a need to replace the first blade with a second blade. This interruption can occur due to various system inputs or diagnostics indicating blade wear or other criteria for blade replacement. At STEP 2202, the processor 112 can stop sectioning commands sent to the cutting subsystem. That is, the processor 112 can pause motor control signals associated with blade actuation and block movement. For example, the processor 112 can halt linear motion of the block holder 908 and disengage vertical cutting sequences. In this example, system status data indicating blade wear or cutting failure is received from sensor inputs. Additionally, the processor 112 can log the interruption and mark the current tissue block as pending blade replacement.

[0326] At STEP 2204, the processor(s) 112 can cause the movement of the first blade from the blade holder 508 to a first blade storage container. This action is to safely store the used blade and may be in preparation for its later use in different procedures or for disposal. At STEP 2204, the processor 112 can actuate the blade I / O subsystem to transport the first blade to a storage slot. That is, the processor 112 can control a robotic member having a magnetic or mechanical grip to move tire blade from the blade holder 508. For example, the processor 112 can initiate a movement sequence using blade carrier 522 to remove the blade and move it to an assigned slot in the first blade storage container. In this example, the first blade is tagged with a usage history or identifierfor traceability. Additionally, the processor 1 12 can update memory records to track blade position and usage count.

[0327] At STEP 2206, the processor 112 can cause the second blade to be moved from a different blade storage container and secured at the blade holder. This is done to continue the sectioning process with a blade 510 that is in suitable condition for precise cutting. At STEP 2206, the processor 112 can retrieve the second blade from an available slot in a different storage container. That is, the processor 112 can control a robotic subsystem to transport the second blade to the blade holder 508. For example, the processor 1 12 can direct blade carrier 522 to engage the second blade using a magnetic coupling surface. In this example, the blade is secured within the holder using a mechanical clamping mechanism actuated by the processor 112. Additionally, the processor 112 can verify alignment and positioning of the blade using sensor feedback or imaging data.

[0328] At STEP 2208, the method can include the processor 112 causing the first blade to be moved from the first blade storage container back to the blade holder. The decision to initiate a facing process for another tissue block can trigger this movement to utilize the first blade in a different capacity within the system. At STEP 2208, the processor 112 can cause the blade I / O subsystem to reverse the previous storage operation. That is, the processor 112 can move the first blade from the first storage container back to the blade holder 508. For example, the processor 112 can select the first blade based on stored tracking information and initiate a pickup sequence using a blade carrier. In this example, the movement can involve actuation of linear and rotational joints to reposition the blade. Additionally, the processor 112 can confirm successful reloading using blade presence sensors.

[0329] At STEP 2210, the facing process can be initiated with the first blade by the processor 112. This initiation can signal the start of the facing process, leveraging the remaining operational capacity of the first blade to perform tasks that do not require the pristine edge of sectioning. This step can demonstrate the efficiency of the method in using blades for multiple purposes within the operational workflow of the system. At STEP 2210, the processor 112 can execute motion control routines associated with facing operations. That is, the processor 112 can reposition the tissue block and engage the first blade for rough cutting. For example, the processor 112 can set the cutting speed and blade contact depth based on predefined facing parameters. In this example, blade wear state can be accounted for in determining cutting force or blade offset. Additionally, the processor 112 can monitor blade engagement using force feedback or vibration sensors.

[0330] The method 2200 can be performed, executed and / or implemented according to any of the features described herein in relation with storing blades post sectioning and reusing them for facing.EXAMPLE IMPLEMENTATION(S) - ROBOTIC DEVICE FOR BLOCK AND BLADE MANAGEMENT

[0331] In laboratory operations such as in settings where precise sectioning of materials is imperative, the management of blades and blocks emerges as a significant logistical challenge. Because blades 510 are typically shifted or changed every five to ten tissue blocks 203 on average, the time spent for blade changing is spreadout over a plurality of tissue blocks 203. As such, blade replacement or exchange does not have to be very fast, which facilitates a compromise or tradeoff between the velocity of blade exchange and the design of a more compact system.

[0332] Systems, devices and methods described herein allow for efficient management of both blades 510 and tissue blocks 203 as well as addressing spatial constraints. In particular, to reduce the space occupied by the microtomy system 100. a device or system can include a block handling assembly configured to hold and / or carry a tissue block 203 and a blade handling assembly configured to hold and / or carry a blade. The device or system can include a robotic subsystem coupled to the blade handling assembly and the block handling assembly. The robotic system can cause movement of the block handling assembly to move a tissue block from a first block position to a second block position and can cause movement of the blade handling assembly to move a blade from a first blade position to a second blade position.

[0333] FIGS. 23A-23B depict perspective views of the feeder transport subsystem 216, according to an example implementation of the current disclosure. The feeder transport subsystem 216 can include the feeder carrier device 202 and transport gantry 802 configured to cause movement of the feeder carrier device along axes 2306, 2308 and 2310. The transport gantry 802 or the feeder transport subsystem 216 can include motors 2302, 2304 and 2312 to cause movement of the feed carrier device 202 along axes 2306, 2308 and 2310, respectively . The feeder transport subsystem 216 can include camera 812 for capturing images of the main pool 1906 or section cut from the tissue block 203 and floating on the surface of the liquid in the main pool 1906.

[0334] The block feeder transport subsystem 216 can be designed, adapted, arranged, structured, or configured to transport tissue blocks 203 to and from a block holder configured to hold or secure a tissue block 203 for cutting sections therefrom. The block holder can be referred to herein as a block jaw. The block feeder transport subsystem 216 can preserve the alignment of the tissue block such that active alignment of the tissue block 203 may be unnecessary. The alignment of the tissue block 203 can save time and can provide higher quality tissue block sections and minimize or reduce tissue block waste.

[0335] The axis 2306 can be referred to as x-axis, tire axis 2308 can be referred to as y-axis 2308, and the axis 2310 can be referred to as z-axis. The feed carrier device 202 can be coupled to the transport gantry 802 of feeder transport subsystem 216 or a member of the transport gantry 802.

[0336] The feed carrier device 202 can be configured, designed, structured and / or arranged to grip or hold a tissue block 203 and / or a blade 510. The feed carrier device 202 can transport the tissue block and / or the blade 510 as the transport gantry causes the feed carrier device 202 to move. The feed carrier device 202 can receive a tissue block 203 from another robotic subsystem, e.g., block transport subsystem 2506, in FIGS. 25A-D, and transport the tissue block 203 to the block holder, e.g., block holder 2504 of FIGS. 25A-25D. The feed carrier device 202 can feed the tissue block 203 to the block holder 2504. Once the tissue block is faced or sectioned, the feed carrier device 202 can receive the tissue block 203 from the block holder 2504 and carry the tissueblock to the block transport subsystem 2506. The feed carrier device 202 is described in further detail in relation to FIG. 24 below.

[0337] Tire camera 812 can be positioned, arranged and / or oriented to face the main pool 1906. The camera 812 can capture images of sections cut from the tissue block 203 and provide captured images to tire processor 112 for analysis. In some implementations, the camera 812 can perform the image analysis of the captured images and provide image analysis feedback to the one or more processors 112. The camera 812 can capture images of sections while floating on the liquid or water in the main pool 1906. The camera 812 can capture an image of a section immediately after the section is cut. The camera 812 can provide the captured images to the one or more processors 112 to determine tire section boundaries, e.g., mask, and evaluate the quality of the section. Tire camera 812 can capture one or more images of the section while the section is attached to the cutting edge of the blade 510. The camera 812 can operate at about 1 frame per second. The camera 812 can capture at least one image, e.g., a valid image, for analysis every time a new section is cut from the tissue block 203 and is floating onto the liquid or water in the main pool 1906. As discussed above in relation to FIGS. 20A and 20B, the image analysis can be used to evaluate or assess the section-cutting quality of the blade 510.

[0338] In some implementations, the feeder transport subsystem 216 can employ a belt actuation with a balanced mass on a vertical member of the feeder transport subsystem. The balanced mass on the vertical member of the feeder transport subsystem can reduce a load on a driving motor of the feeder transport subsystem 216.

[0339] FIG. 24 depicts perspective views of the feed carrier device 202, according to an example implementation of the current disclosure. The feed carrier device 202 can hold and transport the tissue block 203 and a blade 510. The feed carrier device 202 can include a tissue block carrier 2402 acting as a block handling assembly configured to hold and / or carry a tissue block 203 and blade carrier 804 acting as a blade handling assembly configured to hold and / or carry a blade 510. The tissue block carrier 2402 can be referred to herein as a block carrier or a jaw feeder bock gripper. The tissue block carrier 2402 can include gripping elements 2404. As discussed above, e g., in relation to FIGS. 8B-8D, the blade carrier 804 can include one or more members 810 each having a respective magnetic surface 816 to magnetically couple to a blade 510. The feed carrier device 202 can include a motion guide to facilitate vertical motion of tire block carrier 2403 along the z-axis. The feed carrier device 202 can include a driving mechanism 2410 to drive motion of the blade carrier 810, e.g.. along the z-axis. Tire feed carrier device 202 can include a drive 2412 to drive motion of the gripping elements 2404. The drive 2412 can include a motor, a spring-based actuator, a cam or a combination thereof.

[0340] Tire tissue block carrier 2402 can move along the z axis. The tissue block carrier 2402 can carry tissue block 203 to and from the block holder 2504. Tire gripping elements 2404 of the tissue block carrier 2402 can move towards each other to grab a tissue block 203 or move away from each other to release the tissue block 203.

[0341] The feed carrier device 202 can actuate the tissue block carrier 2402 or the respective gripping elements 2404 when grabbing or releasing a tissue block 203. The feed carrier device 202 can actuate the blade carrier 810 when picking up or releasing a blade 510. Actuating the tissue block carrier 2402 can include moving the tissue block carrier 2402 along the motion guide 2408. Actuating the blade carrier 804 can include moving the blade carrier 804 along the z axis vis the driving mechanism 2410. The feed carrier device 202 can actuate the tissue block carrier 2402. the respective gripping elements 2404 or the blade carrier independently of one another.

[0342] Moving the blade carrier 804 along the z axis relative to the tissue block carrier allows for moving the blade carrier 804 away from the tissue block carrier 2402 to facilitate reliable picking up of a blade 510. Similarly, moving the tissue block carrier 2402 along the z-axis relative to the blade carrier 804 allows for moving the tissue block carrier 2402 away from the blade carrier 804 to facilitate reliable grabbing of a tissue block 203. As such, the possibility of interference between transporting the blade 510 and transporting the tissue block 203 is mitigated.

[0343] Tire driving mechanism 2410 can be a lead-screw drive. The driving mechanism 2410 can be coupled to the gripping elements (e .g . , member 810). The drive 2412 can actuate or drive movement of the tissue block carrier 2402, e.g., relative to the blade carrier 804. Hie drive 2412 can be or can include a servo motor.

[0344] FIGS. 25A-25C depict various stages in a process of transporting or transferring tissue blocks to and from a block holder, according to an example implementation of the current disclosure. The process of transferring tissue block 203 can include the feeder transport subsystem 216 transporting tissue blocks 203 between the block holder 2504 and the block transport subsystem 250. The block transport subsystem 2506 can include a dual -block carrier 2502 including a pair of block holding assemblies or a pair of block holding components. In some implementations, the block transport subsystem 2506 can include a multi-block carrier including a plurality of block holding assemblies or a plurality of block holding components.

[0345] In some implementations, the dual-block carrier 2502 can include a rotating member that can include the block holding component arranged on opposite sides of the rotating member. A first tissue block holding component can be positioned or arranged a first side of the dual -block carrier 2502 and a second tissue block holding component can be arranged on a second side of the rotating member. Tire rotating member can hold two tissue blocks 203 simultaneously. Hie rotating member can rotate to exchange, transfer, provide or receive a tissue block 203 to or from the feeder transport subsystem 216. Hie rotating member can hold tissue blocks 203 in various phases, e.g., a faced tissue block, a chilled tissue block, a sectioned tissue block or a new tissue block.

[0346] In FIG. 25 A the feeder transport subsystem 216 can move the feed carrier device 202 towards the tissue block holder 2504. The feed carrier device 202 can receive a first tissue block, e.g., a faced or sectioned tissue block, from the tissue block holder 2504. The feeder transport subsystem 216 can align the feed carrier device202 or the corresponding tissue block carrier 2402 with the tissue block holder 2504. The block carrier 2402 can grip the first tissue block while the tissue block holder 2504 can release the first tissue block.

[0347] At FIG. 25B, the feeder transport subsystem 216 can move the feed carrier device 202 with the first tissue block towards the dual -block carrier 2502. Tire block transport subsystem 2506 can rotate or position the rotating member of the dual -block carrier 2 02 such that an empty block holding component of the dual -block carrier 2502 is facing the feeder transport subsystem 216. The feeder transport subsystem 216 can position the feed carrier device 202 to be aligned with or facing the empty block holding component of the dual -block carrier 2502. Tire feed carrier device 202 can release the first tissue block in the empty block holding component and the empty block holding component can grip on or secure the first tissue block.

[0348] At FIG. 25 C, the block transport subsystem 2506 can cause the rotating member of the dual -block carrier 2502 to rotate, such that the second block holding component carrying a second tissue block is now facing the feed carrier device 202. The block transport subsystem 2506 can cause the dual-block carrier 2502 to move towards the feed carrier device 202. The feed carrier device 202 or the corresponding tissue block carrier 2402 can grip on the second tissue block and the second block holding component of the dual-block carrier 2502 can release the second tissue block. Upon the feed carrier device 202 or the corresponding tissue block carrier 2402 receiving the second tissue block, the feeder transport subsystem 216 can cause the feed carrier device 202 to move. The block transport subsystem 2506 can move the dual-block carrier 2502.

[0349] At FIG. 25D, the feeder transport subsystem 216 can move the feed carrier device 202 towards the tissue block holder 2504. The feeder transport subsystem 216 can align the feed carrier device 202 or the corresponding tissue block carrier 2402 with the tissue block holder 2504. The tissue block holder 2504 can grab or grip the second tissue block held by the feed carrier device 202, and the feed carrier device 202 or the corresponding tissue block carrier 2402 can release the second tissue block. The second tissue block can be a tissue block to be faced or to be sectioned.

[0350] The process described in relation to FIGS. 25A-25D can be repeated for different tissue blocks. The block transport subsystem 2506 can transport tissue blocks 203 received from the feeder transport subsystem 216 to the block storage system 201. In other words, the block transport subsystem 2506 can transport tissue blocks 203 between tire block storage system 201 and the feeder transport subsystem 216. The feeder transport subsystem 216 can transport tissue blocks 203 between the block transport subsystem 2506 and the tissue block holder 2504.

[0351] FIGS. 26A-26K show a sequence of images depicting a process of transferring or transporting blades 510 between the blade storage system 502 and the blade holder 508. In FIGS. 26A-26C, the blade carrier 522 can grab or pick up a first blade 510 from the sectioning blade storage device 514 and place or release the first blade 510 in the swap station 506. The blade I / O subsystem can cause the blade carrier 522 to move from the sectioning blade storage device 514 to the swap station 506. Hie blade carrier 522 can place the first blade 510 at a first slot of the swap station 506. In the meantime, the blade carrier 804, e.g.. of the feed carrier device 202,can pick up a second blade 510 from the blade holder 508 and transport the second blade 510 towards the swap station 506.

[0352] In FIGS. 26D-26I, the blade carrier 804 can place or release the second blade 510 at a second slot of the swap station 506 and pick up the first blade 510 from the first slot of the swap station. Tire second blade 510 can be a blade that has been used for sectioning or facing one or more tissue blocks 203. The first blade 510 can be a new blade 602 to be used for sectioning.

[0353] At FIGS. 26J-26K, the blade carrier 804 can place the first blade 510 at the blade holder 508 to be used for cutting sections of one or more tissue blocks 203. Once the first blade is placed on the inclined surface 826, the blade holder 508 can cause the pressure plate 830 to move against the first blade 510 and secure the first blade 510 between the inclined surface 826 and the pressure plate 830.

[0354] FIG. 27 illustrates a flow diagram of a method 2700 for causing movement of a block handling assembly and a blade handling assembly. The method 2700 can be implemented using any one or more of the components and devices detailed herein. In overview, the method 2700 can be performed by a robotic subsystem capable of managing a block handling assembly and a blade handling assembly. This method 2700 can include operations that ensure the movement of both assemblies, which can allow for accurate sectioning of tissue blocks in a laboratory setting. Additional, fewer, or different operations may be performed in the method 2700 depending on the implementation.

[0355] At STEP 2702, the method 2700 can cause movement of the block handling assembly to move a tissue block from a first block position to a second block position. The process can use sensors to verify the position of the tissue block, ensuring it is aligned for the cut. Additionally, the block handling assembly can be configured to adjust the orientation or angle of the tissue block, potentially improving the quality of the sections to be obtained.

[0356] At STEP 2702. the feeder transport subsystem 216 can actuate the feeder carrier device 202 to reposition the tissue block. That is, the feeder transport subsystem 216 can generate motion control signals to move the block from the first block position toward the second block position near the blade. For example, the feeder transport subsystem 216 can rotate or translate the feeder carrier device 202 along a defined axis using linear actuators. In this example, the position of the tissue block can be verified by position sensors or visual data from a camera system. Additionally, the feeder transport subsystem 216 can adjust block pitch or roll using a mechanical alignment mechanism.

[0357] At STEP 2704, the method can cause movement of the blade handling assembly to move a blade from a first blade position to a second blade position. Tire method can involve the robotic subsystem executing a command to transition the block handling assembly, relocating the tissue block from the first block position to a second block position. In parallel, the blade handling assembly can be actuated to align the blade from a first blade position to a second blade position, corresponding to the new location of tire tissue block.

[0358] At STEP 2704, the feeder transport subsystem 216 can reposition the blade handling assembly toward the sectioning location. That is, the feeder transport subsystem 216 can move a blade carrier from the first blade position to a second blade position relative to the tissue block. For example, the feeder transport subsystem 216 can actuate robotic joints or linear actuators to translate the blade carrier into alignment with the cutting path. In this example, blade orientation can be controlled to match the intended sectioning angle. Additionally, the feeder transport subsystem 216 can verify blade engagement using sensors at the blade interface.

[0359] The method 2700 can be implemented, executed and / or performed according to any of the features described herein in relation with the feed carrier device, the feeder transport subsystem 216 and / or the block transport subsystem.Monitoring and Controlling Microtomy Systems

[0360] Referring now to FIGS. 28A-28D. various views of a robotic implementation of the microtomy system 100 are shown, according to an example implementation. In particular, the robotic implementation of the microtomy system 100 includes various robotic systems, sub-systems and / or devices to automate pathways and / or functions associated with the tissue blocks, the sections cut from the tissue blocks, the slides to carry sections of the tissue blocks, the blades used to cut the sections, and the liquid(s) used for various purposes during the microtomy process.

[0361] The block pathway system 102 can include a block storage system 201 to store a plurality of tissue blocks 203. The block storage system 201 can have a corresponding capacity indicative of the maximum number of tissue blocks 203 that can be stored by the block storage system 201. The block pathway system 102 can include various robotic subsystems, such as a block transport subsystem and a feeder transport subsystem 216. Tire feeder transport subsystem 216 can include a feeder device 202, which is also referred to herein as jaw feeder. The block pathway system 102 or the microtomy system 100 can include a tissue block holder for holding or securing a tissue block during the facing process and the sectioning process. The tissue block holder can be referred to herein as a block holder, a block jaw or a robotic device for securing a tissue block. The feeder device 202 can be configured to provide tissue blocks to, and remove tissue blocks from, the tissue block holder. The block transport subsystem can be configured to place a tissue blocks in, and remove the tissue block from, the chilling station 210. The block transport subsystem can transport or move tissue blocks 203 between the block storage system 201 and the feeder transport subsystem 216 or the feeder device 202. The tissue block pathway system 102 is described in further detail in section D below.

[0362] The section pathway system 104 can include a cutting assembly including a cutting blade, a pool subsystem 208, the chilling station 210 and one or more section manipulators 212. The cutting assembly can be viewed as belonging to the section pathway system 104 and the blade pathway system 108. The pool subsystem 208 can include one or more pools providing one or more liquid media. While shown to have a ring shape, the pool subsystem 208 and / or the corresponding pools can be arranged according to other shapes. Hie chilling station 210 can receive tissue blocks 203 before sectioning. The section manipulators 212 can be configured todetach sections from the cutting assembly and / or move sections across the pool subsystem 208. The section pathway can include a microtome internal system 214. The microtome internal system 214 can include a mechanical system to actuate vertical and / or horizontal motion of the tissue block holder. Tire section pathway system 104 is described in further detail in section E below.

[0363] The slide pathway system 106 can include a slide storage subsystem (or slide storage system) 204 and a slide transport subsystem 206 configured to pick up a slide from the slide storage system 204 and move the slide to a pool of the pool subsystem 208 to place a section on the slide. Once one or more slides are placed on the slide, the slide pick-up subsystem 206 can place the slide back in the slide storage system 204.

[0364] Tire blade pathway system 108 can include a blade storage subsystem to store a plurality of blades, a blade holder of the cutting assembly configured to secure the cutting blade for cutting sections, and one or more robotic subsystem to move cutting blades within the blade storage subsystem or between the blade storage subsystem and the blade holder. The blade storage subsystem can have a blade loading capacity, e.g., a maximum of 30 blades. The blade pathway system 108 or the cutting assembly can include a blade clamping system 218 to secure or unsecure the blade within the blade holder.

[0365] FIG. 28E depicts another robotic implementation of the microtomy system 100, according to an example implementation. Hie robotic implementation of FIG. 28E is a multi-level or multi-layer robotic microtomy system including 3 levels or layers 120, 122 and 124 stacked vertically. For example, the lower level 120 can include the liquid pathway system 110. The intermediate level 122 can include the microtome internal system 214, pools or liquid media and the slide storage system 204. The upper level 124 can include the block transport system, the chilling station 210, the blade storage system and the robotic subsystems to carry or transport blades between compartments of the blade storage system and / or the cutting assembly.

[0366] In general, the microtomy system 100 can be implemented according to other robotic implementations, e.g.. other than those depicted in FIGS. 28A-28D and 28E.

[0367] Referring now to FIG. 29, various views of the tissue block 203 are shown, according to an example implementation of the current disclosure. In brief overview, the tissue block 203 can include a tissue sample 302, a wax block 304 and a cassette 306. The tissue block 203 can include a block identifier 310 arranged on a surface 308 of the cassette 306. As discussed above, the microtomy system 100 can include a block storage system 201 for storing a plurality of tissue blocks 203. For example, the block storage system 201 can have a storage capacity of 30 tissue blocks.

[0368] The tissue sample 302 can be removed by a surgeon from a body of a subject, such as a patient. For example, the tissue sample 302 can be removed from a tissue lump or tissue region suspected to have a high probability of cancerous growth or some other tissue abnormalities. The tissue sample 302 can be removed using a biopsy procedure. As discussed above in Section A, the tissue sample 302 can undergo multiple processes before being embedded within the wax block 304. Hie tissue sample 302 can have a thickness of about 4mm and to a cross section sized to be mounted on a slide.

[0369] The wax block 304 can provide the tissue sample 302 with structural support during cutting. The tissue sample 302 can be embedded in the wax block 304. The wax block 304 may be designed, adapted, arranged, structured, or configured to have a truncated pyramid shape. The wax block 304 can be made of paraffin wax. A width of the wax block 304 can be between 10 millimeters and 24 millimeters. A length of the wax block 304 can be between 16 millimeters to 36 millimeters. The wax block 304 can be coupled or attached to the cassette 306.

[0370] During the facing operation, the cutting assembly or the cutting blade can sequentially cut multiple sections of the wax block 304 embedding the tissue sample 302 until an ’‘acceptable” or “proper” cross-section of the tissue sample 302 becomes exposed. During sectioning, the cutting assembly or the cutting blade can cut one or more sections of the wax block 304 such that each section includes a corresponding section of the tissue sample 302. In the following, a section of the tissue block refers to a section of wax block 304 with or without a corresponding section of the tissue sample 302, e.g., depending on whether the section is cut during facing or sectioning.

[0371] Tire cassette 306 can provide the wax block 304 with a rigid backing. The cassette 306 can be used to hold, grab or get a grip on the tissue block 203 during the microtomy process. Using the cassette 306 to grab the tissue block 203. e.g., instead of the wax block 304, prevents or reduces potential damage to the wax block 304 and / or the tissue sample 302 embedded therein. Robotic devices configured to pick up. grab or secure the tissue block 203 can come in contact with the cassette 306 without touching the wax block 304. In some implementations, the cassette 306 can be made of plastic.

[0372] Tire block identifier 310 can be placed on the surface 308 of the cassette 306. Tire surface 308 can be a slanted or inclined surface of the cassette 306 such that when the tissue block 203 is placed in the microtomy system 100, the block identifier 310 is accessible to a scanner or reader. The block identifier 310 can be indicative of a corresponding subject, e.g., the patient from whom the tissue sample 302 was extracted. The block identifier 310 can be a barcode, a QR code, or another type of identifier. The block identifier 310 allows for tracking or identifying the sections cut from the tissue block 203. Various processes, e.g., facing, chilling and sectioning, can be applied to the tissue block 203 to generate thin sections to be examined.

[0373] Referring now to FIG. 30, a flow chart of a microtomy method 3000 is shown, according to an example implementation of the current disclosure. The method 3000 can be implemented, performed or executed by the microtomy system 100. In brief overview, the method 3000 can include the microtomy system 100 receiving a plurality of tissue blocks (STEP 3002), performing a facing operation on the plurality of tissue blocks 203 (STEP 3004), performing a chilling operation on the plurality of tissue blocks 203 (STEP 3006) and performing a sectioning operation on the plurality of tissue blocks 203 (STEP 3008).

[0374] Tire microtomy system 100 can receive a plurality of tissue blocks 203 (STEP 3002). An operator of the microtomy system 100 can unload the block storage system 201 , if full with already processed tissue blocks, and load the block storage system 201 with new tissue blocks 203. The microtomy system may further receivea plurality of blades and / or a plurality of slides. The operator may load the blade storage subsystem with new cutting blades and / or load the slide storage system with new slides.

[0375] Tire microtomy system 100 can perform a facing operation on the plurality of tissue blocks 203 (STEP 3004). Hie microtomy system 100 may perform the facing operation on all the tissue blocks 203 before starting any chilling operation and / or sectioning operation. For example, the processor 112 can cause each tissue block 203 to be transported from the block storage system 201 to the tissue block holder and cause a plurality of sections to be cut from the tissue block 203 until "‘an acceptable” cross section of the tissue sample 302 becomes exposed. The processor 112 can cause the tissue block 203 to be moved back and placed in the block storage system 201. The processor 112 can repeat this process with all the tissue blocks 203.

[0376] The microtomy system 100 can perfonn a chilling operation on the plurality of tissue blocks 203 (STEP 3006). The block pathway system 102 can move or transport cause the plurality of tissue blocks 203, e.g., one at a time, from the block storage system 201 to the chilling station 210 to be chilled. Each tissue block 203 can be in the chilling stations 210 for a defined chilling time period. Since the chilling operation is expected or desired to be chilled before the sectioning operation is performed on the same tissue block 203, the processor 112 can schedule each tissue block 203 for chilling such that sectioning is performed on the tissue block 203 right after chilling.

[0377] The microtomy system 100 can perform a sectioning operation on the plurality of tissue blocks 203 (STEP 3008). Once a tissue block 203 is chilled, the block pathway system 102 can carry the tissue block 203 from the chilling station 210 to the tissue block holder. The processor 112 can cause relative movements between the tissue block holder and the cutting assembly or the cutting blade secured therein causing one or more sections to be cut from the tissue block. The processor 112 can cause at least one of the tissues cut to be placed on a slide for examination and cause the slide to be placed in the slide storage system 204. The same process can be repeated for all the tissue blocks 203.Multi-Microtomy System

[0378] Referring now to FIG. 31 , a block diagram of a microtomy controlling system 3100 is shown, according to an example implementation of the current disclosure. The microtomy controlling system 3100 can include a multi-microtomy system 3102 including an array 3104 of microtomy systems 3106, a display 3108, a computer device 3110 communicatively coupled to the multi-microtomy system 3102, and an input / output (I / O) device 3112. The multi -microtomy system 3102 can include a processor 3114 communicatively coupled to the array 3104 of microtomy systems 3106 and a memory 3116. In some implementations, each of the microtomy systems 3106 can be viewed as a robotic system that can receive one or more tissue blocks, one or more blades and one or more slides, and perfonn a microtomy process on the one or more tissue blocks using the one or more blades and the one or more slides, similar to the microtomy system 100 described above, except that the microtomy systems 3106 can share a single liquid pathway system 110 configured to provide and / or manage liquid(s) forthe plurality of microtomy systems 3106. The liquid pathway 110 can be fluidly coupled to the microtomy systems 3106. The multi -microtomy system 3102 can be referred to herein as a supertome 3102.

[0379] In some implementations, each of the microtomy systems 3106 can implement tire method 400 (e.g., an operation of the microtomy systems 3106). For example, each microtomy system 3106 can receive a respective set of tissue blocks and process, e.g., perform, facing, chilling and sectioning on, the respective set of tissue blocks. Also, each microtomy system 3106 can receive a respective set of cutting blades and / or a respective set of slides. The microtomy systems 3106 can process respective tissue blocks simultaneously. The microtomy systems 3106 can operate independently of each other at least to some extent. In some implementations, time constraints may be imposed on operations of different microtomy systems 3106 to allow consecutive display of data from different microtomy systems 3106 on the display device 3108. The data can include real-time (or near real-time) image data depicting images of a tissue block 203 being processed or sections cut from the tissue block 203. Different microtomy systems 3106 may be operating at different time shifts relative to one another to allow an operator to monitor data related to semi-automatic processes or stages of the microtomy process consecutively for different microtomy systems 3106.

[0380] Tire processor 3114 can be configured to manage or control the timing of different microtomy systems 3106 to facilitate or allow consecutive monitoring of semi-automatic processes or stages for different microtomy systems 3106. Tire processor 3114 may manage communications or exchange of data between the multi -microtomy system 3102 and the computer device 3110. The processor 3114 can be configured to provide a user interface for display on the display device 3108. The user interface can allow display of data from the microtomy system 3106 and / or input or selection of parameter values for operational parameters of the microtomy systems 3106. Tire memory’ 3116 can store executable instructions that are executed by the processor 3114. Tire executable instructions, when executed by the processor 3114. can cause the processor 3114 to perform tasks related to managing or controlling the timing of different microtomy systems 3106. managing communications with the computer device 3110 and / or providing or managing the user interface.

[0381] The computer device 3110 can be communicatively coupled to the display device 3108 and the I / O device 3112. In some implementations, the display device 3108 and / or the I / O device 3112 can be part of the computer device 3110. The display device 3108 can display the user interface for providing or rendering data from the microtomy systems 3106. The I / O device 3112 can facilitate providing or selecting parameter values for various parameters of the microtomy systems or the corresponding microtomy processes. The display device 3108 can include a screen, a touch screen, a monitor, a tablet, or any other device that can display images, figures, charts, or any other information. The I / O device 3112 can include a mouse, a keyboard, a touch screen, a gaming console and / or some other type of I / O devices. The computer device 3110 can process information output from the multi-microtomy system 3102 to communicate to the display device 3108. Tire computer device 3110 can run, control, alter and / or adjust parameters of the multi -microtomy system 3102.

[0382] Referring to FIG. 32, an implementation of the multi -microtomy system 3102 is shown, according to an example implementation of the current disclosure. The multi -microtomy system 3102 includes a pair of microtomy systems 3106 stacked vertically one on top of the other and a common liquid pathway system 110 stacked at the bottom beneath the microtomy systems 3106. In general, a multi -microtomy system 3102 can include any number of microtomy systems 3106 which can be stacked or arranged relative to one another according to any of various arrangements or configurations. In some implementations, each microtomy system 3106 can include its own liquid pathway system 1 10. In some implementations, multiple microtomy systems 3106 can share a singly liquid pathway system 110.

[0383] In some implementations, each of the microtomy systems 3106 can include a respective block loading bay 3202, a respective blade loading bay 3204, a respective slide loading bay 3206. and a respective filtration system bay 3208. The block loading bay 3202 can be a drawer, an inlet, a compartment in which a user or operator can unload tissue blocks 203 from the block storage system 201 and load new tissue blocks therein. The block loading bay 3202 can house, hold the block storage system 201.

[0384] The blade loading bay 3204 can be a drawer, an inlet, a compartment in which the user or operator can unload used cutting blades from the blade storage system and load new cutting blades therein. The blade loading bay 3204 can contain, house the blade storage system or a blade storage device thereof that can store a plurality of blades. In some implementations, the cutting blades can be loaded to or unloaded from the microtomy system 3106 according to other mechanisms, e.g., other than blade loading bays 3204.

[0385] The slide loading bay 3206 can be a drawer, an inlet, a compartment in which the user can unload one or more slide storage devices from the slide storage system 204 and load new slide storage devices therein with new slides. The slide loading bay 3206 can contain, house the slide storage system 204 or slide storage devices thereof that can store a plurality of slides. In some implementations, the slides can be loaded to or unloaded from tire microtomy system 3106 according to other mechanisms, e.g., other than slide loading bays 3206.

[0386] The filtration system bay 3208 can be a drawer, an inlet, a compartment in which the user can load and unload a filtration system. The filtration system can filter liquid, and material circulated by the liquid pathway system 110. The filtration system can be operatively coupled to the liquid pathway system 110. In some implementations, the filtration systems can be loaded to or unloaded from the microtomy system 3106 according to other mechanisms, e.g., other than filtration system loading bays 3208.

[0387] Referring to FIG. 33A, a schematic illustration of a centralized microtomy controlling system 3300a is shown, according to an example implementation of the current disclosure. The centralized microtomy controlling system 3300a can include one or more multi -microtomy systems 3102, a display device 3108 and a gaming controller 3302 used as an I / O device. In some implementations, other types of I / O devices can be used. Each multi -microtomy system 3102 can include a corresponding plurality of microtomy systems 3106. The centralized microtomy controlling system 3300a can be arranged or located in a single location and can bemonitored or controlled by an operator 3304, such as ahisto-technician. The centralized microtomy controlling system 3300a can be viewed as an implementation of the microtomy controlling system 3100.

[0388] Tire display device 3108 can be communicatively coupled to the one or more multi-microtomy systems 3102 and / or the corresponding microtomy systems 3106. Hie display device 3108 can display information, e.g., via a user interface, about the microtomy system 3106 and / or the microtomy processes running therein. For example, the display device 3108 can display liquid temperature, images of sections cut from a tissue block 203 and / or images of the tissue block 203, among other data. The operator 3304 can input or adjust parameters of the microtomy systems 3106 such as facing speed, sectioning speed and / or liquid temperature, among others, e.g., by using the gaming controller 3302. The operator can interrupt or terminate a microtomy process running a given microtomy system 3106 or can shut down the microtomy system 3106. The operator 3304 can load and unload tissue block 203. cutting blades, and slides or slide storage device into the block loading bay 3202, the blade loading bay 3204, and the slide loading bay 3206, respectively. The operator 3304 can load, unload, replace, and adjust the filtration system using the filtration system bay 3208.

[0389] Referring now to FIG. 33B, a block diagram of a distributed microtomy controlling system 3300b is shown, according to an example implementation of the current disclosure. The distributed microtomy controlling system 3300b can include a plurality of microtomy systems 3106 or a plurality of multi-microtomy systems 3102 distributed, a plurality of computer devices 3110. and one or more computer servers 3308. The plurality of microtomy systems 3106 and the plurality of computer devices 3110 can be distributed over multiple geographical areas. The plurality of microtomy systems 3106, the plurality of computer devices 3110, and the one or more computer servers 3308 can be communicatively coupled via a communication network 3306. For example, the plurality of microtomy systems 3106, the plurality of computer devices 3110, and the one or more computer servers 3308 can communicate via one or more communications protocols (e.g., Bluetooth, Wi-Fi, cellular, radio, through the Internet, etc.) through the communication network 3306.

[0390] The computer server 3308 can pair (e.g., allocate, assign, map, etc.) different microtomy systems 3106 to different computer devices 3110 at different time periods or different stages of the corresponding microtomy processes. A given microtomy system 3106 can be monitored by a corresponding computer device 3110 paired to the microtomy system 3106 during a given time period, and the microtomy system 3106 can transmit data associated with an operation of the microtomy system 3106 to the corresponding computer device 3110 for display. The computer device 3110 paired to the microtomy system 3106 can control operations of the microtomy system 3106 during the allocation time period. A user of the computer device 3110 can remotely monitor and / or control a microtomy system 3106. For example, the operator 3304 of a computer device 3110 located in India can monitor and / or control a microtomy system 3106 physically located in the United States of America.

[0391] Each of the microtomy systems 3106 may operate independently of other microtomy systems 3106 in processing respective tissue block 203. Processing a tissue block 203 can include tire corresponding microtomysystem 3106 performing a microtomy process including sub-processes such as facing, chilling, sectioning and placing sections cut during sectioning on one or more slides. Any of these sub-processes can be fully automatic (or autonomous) or semi-automatic. In some implementations, at least one sub-process of the sub-processes of the microtomy process can include a fully automated (or autonomous) stage or phase and a semi-automated stage or phase. As used herein, a semi-automated sub-process or stage involves monitoring and controlling an operation of the microtomy system 3106 by a computer device 3110. A user of the computer device 3110 may control one or more parameters of the microtomy system 3106 based on data associated with the operation of the microtomy system 3106 presented or displayed by the computer device 3110.

[0392] For example, the facing sub-proccss can include a first autonomous tissue cutting process or phase during which relatively thick sections or slices of the tissue block 203 (or the wax block 304) are cut until a defined condition is met, and a semi-automated tissue cutting process during which additional relatively thick sections or slices of the tissue block 203 (or the wax block 304) are cut until a ‘“proper” cross section of the tissue sample 302 embedded in the wax block 304 is exposed. During the semi -automated tissue cutting process of the facing process, the microtomy system 3106 can provide data related to semi-automated tissue cutting process to a computer device 3110 and the computer device 3110 can control one or more parameters of the microtomy system 3106 related to the semi-automated tissue cutting process. For example, determining whether a “proper” cross section of the tissue sample 302 is exposed and terminating the facing process can be decided by a user of the computer device 3110.

[0393] In general, any sub-process, stage or operation of the microtomy process can be semi-automated. For example, the sectioning process, a stage of phase of the sectioning process or an operation of the sectioning process can be semi-automated. For example, the chilling process, a stage of phase of the chilling process or an operation of the chilling process may be semi-automated. The placement of section cut from the tissue block 203 or an operation thereof can be semi-automated. One or more operations related to handling tissue blocks, handling slides and / or handling cutting blades within the microtomy system 3106 may be semi-automated.

[0394] The microtomy systems 3106 can operate independent of one another. Any pair of microtomy systems 3106, at some time example, can be performing the same sub-process or operation of the microtomy process or can be perfonning different sub-processes or operations. For example, multiple microtomy systems 3106 can be performing the same sub-process or operation of the microtomy process simultaneously. Multiple microtomy systems 3106 can be perfonning different sub-processes or operations of the microtomy process at some time example. For example, one microtomy system 3106 can be performing facing while another microtomy system 3106 is performing sectioning or chilling. Each microtomy system 3106 is expected to be assigned to, mapped to or paired with a computer device 3110 of the plurality of computer devices 3110 when the microtomy system 3106 is in a semi-automated state. Tire computer device 3110, to which the microtomy sy stem 3106 is assigned, is configured to monitor and / or control the microtomy system 3106 during the semi-automated state of the microtomy system 3106.

[0395] In some implementations, such as the case of a depicted in FIG. 33A, the microtomy controlling system 3100 may include a single computer device 3110 to monitor and / or control multiple microtomy systems 3106. Tire microtomy systems 3106 may be configured to operate at different time shifts with respect to one another to avoid long delays waiting to be assigned to monitored by the computer device 3110 during the semiautomated stage, phase or operation. For example, while one microtomy systems 3106 may be performing a semi-automated stage or phase of the facing process, another microtomy system 3106 may be performing an autonomous stage or phase of the facing process or may be transporting a tissue block 203 to be faced. The processor 3114 may impose the time shifts between the microtomy systems 3106. The assignment or mapping of a microtomy system to the computer device 3110 may be performed by the processor 3114 and / or by the computer device 3110.

[0396] According to at least one aspect, the computer server 3308 can receive from each microtomy system 3106 of the plurality of microtomy systems 3106, a state of the microtomy system 3106. The state of the microtomy system 3106 can correspond to or can be indicative of at least one of a first state in which the microtomy system 3106 is performing an autonomous tissue cutting process and a second state in which the microtomy system 3106 has completed the autonomous tissue cutting process and awaiting assignment to a computer device 3110 for a semi -automated tissue cutting process. Hie computer server 3308 can assign, responsive to determining that the microtomy system 3106 is in the second state, the microtomy system 3106 to a computer device 3110 of a plurality of computer devices 3110, and cause, responsive to assigning the microtomy system 3106 to the computer device, data from the microtomy system 3106 to be presented on an interface at the computer device 3110 and to allow the computer device 3110 to control the operation of the microtomy system 3106.

[0397] The computer server 3308 can receive from each microtomy system 3106 of the plurality of microtomy systems 3106. a state of the microtomy system 3106. Each microtomy system 3106 can be configured to periodically send indications of its state to the computer server 3308. The microtomy systems 3106 may send the indications of their respective states to the computer server 3308 responsive to specific events, e.g., switching from one state to another. In some implementations, the computer server 3308 may forward the indications of the states of the microtomy systems 3106 to the computer devices 3110 and / or the microtomy systems 3106 may send the indications of their respective states to the computer devices 3110. Tire computer server 3308 may monitor and / or keep track of the current state of each microtomy system 3106.

[0398] The state of the microtomy system 3106 can correspond to or can be indicative of the sub-process, stage or operation of the microtomy process that the microtomy system 3106 is currently performing. For example, the state of the microtomy system 3106 can be indicative of a facing process or a phase or operation thereof that the microtomy system 3106 is currently performing. Tire state of the microtomy system 3106 may be indicative of a sectioning process or a phase or operation thereof that the microtomy system 3106 is currently performing. The state can correspond or can be indicative of at least one of a first state in which the microtomysystem 3106 is performing an autonomous tissue cutting process or a second state in which the microtomy system 3106 has completed the autonomous tissue cutting process and awaiting assignment to a computer device 3110 for a semi-automated tissue cutting process. For example, the first state can be an autonomous stage or phase of the facing process, and the second state can be a semi-automated stage or phase of the facing process.

[0399] The computer server 3308 can assign, responsive to determining that the microtomy system 3106 is in the second state, the microtomy system 3106 to a computer device 31 10 of a plurality of computer devices 3110. In some implementations, a computer device 3110 having access to or aware of the state of the microtomy system 3106 can send an assignment request to the computer server 3308 to assign the microtomy sy stem 3106 to the computer device 3110. In response, the computer server 3308 can assign the microtomy system 3106 to the computer device 3110. In some implementations, the computer server 3308 can actively assign the microtomy system 3106 to the computer device 3110 responsive to the second state of the microtomy system 3106. The computer server 3308 can assign the microtomy system 3106 to the computer device 3110 based on the availability of the computer device 3110. The computer server 3308 can send an indication of the assignment to at least one of the microtomy system 3106 or the computer device 3110.

[0400] In some implementations, the computer server 3308 can, responsive to detenuining that the microtomy system 3106 is in the second state, initiate or trigger initiation of a communication session between the microtomy system 3106 and the computer device 3110. For example, the computer server 3308 can instruct at least one of the microtomy system 3106 or the computer device 3110 to establish a communication session between them. The computer server 3308 may establish a communication session with both the microtomy system 3106 and the computer device 3110, and may act as an intermediate point between the microtomy system 3106 and the computer device 3110.

[0401] The computer server 3308 can cause, responsive to assigning the microtomy system 3106 to the computer device, data from the microtomy system 3106 to be presented on an interface at the computer device 3110 and to facilitate the computer device 3110 to control the operation of the microtomy system 3106. The computer server 3308 can instruct the microtomy system 3106 to provide, transmit or stream data of the microtomy system, e.g.. data associated with the operation of the microtomy system 3106, to the computer device 3110. The data can include at least one of one or more images of sections cut from the tissue block 203, one or more images of the tissue block 203, a cutting speed, a thickness of the sections cut or a temperature of a liquid of the microtomy system 3106, among others.

[0402] Upon assigning the microtomy system 3106 to the computer device 3110, the computer server 3308 can update, in one or more data structures, an availability of the computer device from a first availability status indicating that the computer device is available for assignment to a second availability status indicating the computer device 3110 is unavailable for assignment. Assuming the computer device 3110 can monitor only one microtomy system 3106 at a time, the computer server 3308 can update the availability state of the computerdevice 31 10 to "unavailable" or '‘busy”. The computer server 3308 can determine, e.g., at a later time after the assignment, that the state of the microtomy system 3106 has changed from the second state to a third state in which the microtomy system has completed the semi-automated tissue cutting process, and update, responsive to determining that the microtomy system 3106 is in the third state, an availability status of the computer device to the first availability status, e.g., “available” or “available for new assignment”.

[0403] Once the computer device 3110 becomes available again, the computer server 3308 can determine that a state of another microtomy system 3106 has changed from the first state to the second state (e.g., waiting to be assigned to a computer device 3110), and assign the other microtomy system 3106 to the computer device 3110, responsive to determining that the computer device 3110 is available. The computer server 3308 can update the availability status of the computer device 3110 to the second availability status, e.g.. “unavailable” or “busy”.

[0404] The computer server 3308 can determine that the state of athird microtomy system 3106 is at the second state, e g., waiting to be assigned to a computer device 3110. The computer server 3308 can select from the plurality of computer devices 3110, a second computer device 3110 based on the second computer device 3110 having the first availability status, e.g., being “available” or “available for new assignment”. The computer server 3308 may select the second computer device 3110 based on the computer device 3110 monitoring the second microtomy system 3106 being “unavailable” or “busy”. The computer server 3308 can assign to the second computer device 3110, the third microtomy system 3106 and cause, responsive to assigning the third microtomy system 3106 to tire second computer device 3110, data from the third microtomy system 3106 to be presented on an interface at the second computer device 3110 to facilitate the second computer device 3110 to control the operation of the third microtomy system 3106. Tire computer server 3308 can update the availability status of the second computer device 3110 to the second availability status, e.g.. “unavailable” or “busy”, responsive to assigning the third microtomy system 3106 to the second computer device 3110.

[0405] In some implementations, the interface at the computer device can include a first image obtained from a first camera and a second image obtained from a second camera. The first image can be an image of a section of tissue cut by the microtomy system and the second image can be an image of a tissue block from which the section of tissue was cut. The interface can include a plurality of microtomy system control elements to control cutting parameters associated with the semi-automated tissue cutting process. The plurality of control elements can include a first element, which when selected, causes the microtomy system to cut a section of a tissue block loaded in the microtomy system and a second element, which when selected, causes the microtomy system to terminate the semi-automated tissue cutting process.

[0406] In some implementations, tire interface can include a grossing notes region that includes information relating to the specimen included in a tissue block to be cut by the microtomy system. In some implementations, the interface can include a sectioning configuration region identifying at least one of a number of slides to use to collect sections and a thickness of the sections.

[0407] According to at least one aspect, the computer server 3308 can monitor states of the plurality of microtomy systems 3106 and provide indications of the states of the plurality of microtomy systems 3106 to the plurality of computer devices 3110. The computer server 3308 can assign, responsive to a microtomy system 3106 of the plurality of microtomy systems 3106 being at a first state, the microtomy system 3106 to a computer device 3110 of a plurality of computer devices 3110, and cause, responsive to assigning the microtomy system 3106 to the computer device 3110. data associated with an operation of the microtomy system 3106 to be provided to the computer device 31 10. The computer device 31 10 can control the operation of the microtomy system 3106 based on the data received from the microtomy system 3106.

[0408] According to at least one aspect, the computer server 3308 can determine that a microtomy system 3106 of a plurality of microtomy systems 3106 is at a first state among tire plurality of states, and assign, responsive to determining that the microtomy system 3106 is at the first state, the microtomy system 3106 to a computer device 3110 of the plurality of computer devices 3110. The computer server 3308 can cause, responsive to assigning the microtomy system 3106 to the computer device 3110, data associated with an operation of the microtomy system 3106 to be provided to the computer device 3110. The computer device 3110 can control the operation of the microtomy system 3106 based on the data from the microtomy system 3106.

[0409] The state of the microtomy system 3106 may be indicative of a current process or a current operation that the microtomy system 3106 is performing (e.g., the facing process, the sectioning process, etc.). In some implementations, the state of the microtomy system 3106 may be indicative of a time shift or a time period before the microtom...

Claims

CLAIMSWHAT IS CLAIMED IS:

1. A system, comprising: a member having a magnetic surface; and a robotic subsystem including the member configured to: cause the member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure; cause the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure; and cause the member to move in a direction that causes the second structure to exert a force on the blade causing the blade to detach from the member.

2. The system of claim 1, wherein the member has a first inclination angle that matches a second inclination angle at which the blade is stored in the first structure.

3. Tire system of claim 1, wherein the second structure exerts a shearing force on the blade as the member moves in the direction.

4. The system of claim 1, wherein the member includes a resting surface transverse to the magnetic surface to accommodate a first side of the blade.

5. The system of claim 4, wherein the system further comprises a spring configured to push the blade against a surface of the second structure.

6. Tire system of claim 5, wherein the second structure includes a resting surface that exerts the force on the blade causing the blade to detach from the member and wherein the spring is configured to push the blade against the resting surface of the second structure.

7. The system of claim 1, wherein the member includes a plurality of arms, each arm having a respective magnetic surface.

8. Tire system of claim 7, wherein each arm of the plurality of arms includes a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade.

9. Tire system of claim 8. wherein tire respective resting surfaces of the plurality of arms are aligned with each other.

10. The system of claim 1, wherein a third structure exerts a clamping force on the blade using a spring and wherein the third structure is unclamped from the blade using a motor.

11. Tire system of claim 10, wherein the third structure has a width that is less than a length of the blade such that when the blade is inserted in a slot defined by the second structure, a portion of the blade extends beyond the width of the third structure.

12. The system of claim 11. wherein the robotic subsystem is configured to:cause the member to move towards the blade such that the magnetic surface of the member magnetically couples to the portion of tire blade extending beyond the width of the third structure.

13. Tire system of claim 12, wherein the portion of the blade is a first portion and wherein the second member is configured to contact the blade along a second portion of the blade, the second portion used to cut sections from one or more tissue blocks.

14. The system of claim 1. wherein the robotic subsystem is configured to move the blade to a blade storage device including one or more blade storage slots.

15. Tire system of claim 1, wherein the magnetic surface includes a permanent magnet.

16. A method, comprising: causing, by a robotic subsystem including a member having a magnetic surface, tire member to move to a first position where the magnetic surface of the member is magnetically coupled to an exposed surface of a blade stored in a first structure; causing, by the robotic subsystem, the member to move from the first position to a second position such that the blade magnetically coupled to the member is moved toward a second structure; and causing, by a robotic subsystem, the member to move in a direction such that the second structure exerts a force on the blade causing the blade to detach from the member.

17. The method of claim 16, wherein the member has a first inclination angle that matches a second inclination angle at which the blade is stored in the first structure.

18. Tire method of claim 16, wherein the member exerts a shearing force on the blade as the member moves in the direction.

19. Tire method of claim 16. wherein the member includes a resting surface transverse to the magnetic surface to accommodate a first side of the blade.

20. The method of claim 19. wherein the robotic subsystem further comprises a spring and the method further comprising pushing, via the spring, the blade against a surface of the second structure.

21. Tire method of claim 20, wherein the second structure comprises: a resting surface and the method further comprising exerting, via the resting surface of the second structure, the force on the blade causing the blade to detach from the member; and pushing, via the spring, the blade against the resting surface of the second structure.

22. The method of claim 16, wherein the member includes a plurality of anns, each arm having a respective magnetic surface.

23. Tire method of claim 22, wherein each arm of the plurality of arms includes a respective resting surface transverse to the respective magnetic surface to accommodate a first side of the blade.

24. Tire method of claim 23, wherein the respective resting surfaces of the plurality of arms are aligned with each other.

25. The method of claim 16, further comprising exerting, by a third structure, a clamping force on the blade using a spring and wherein the third structure is unclamped from the blade using a motor.

26. Tire method of claim 25, wherein the third structure has a width that is less than a length of the blade such that when the blade is inserted in a slot defined by the second structure, a portion of the blade extends beyond the width of the third structure.

27. The method of claim 26, comprising causing, by the robotic subsystem, the member to move towards the blade such that the magnetic surface of the member magnetically couples to the portion of the blade extending beyond the width of the third structure.

28. Tire method of claim 27, wherein the portion of tire blade is a first portion and wherein the second member is configured to contact the blade along a second portion of the blade, the second portion used to cut sections from one or more tissue blocks.

29. The method of claim 16, further comprising moving, by the robotic subsystem, the blade to a blade storage device including one or more blade storage slots.

30. Tire method of claim 16, wherein the magnetic surface includes a permanent magnet.

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