Systems and methods for section transport and slide management of a robotic microtomy system

Abstract

Various examples, systems, and methods relate to section transport and slide management of a robotic microtomy system. A system can include a tissue block holder holding a tissue block, a blade having a blade edge submerged in liquid and configured to cut a section of the tissue block, a section handling assembly including a member, and an actuator configured to cause the member of the section handling assembly to (i) move through the liquid underneath the section floating on a surface of the liquid and (ii) separate the section from the blade edge.

Description

SYSTEMS AND METHODS FOR SECTION TRANSPORT AND SLIDE 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 section transport and slide management of a robotic microtomy system. According to at least one aspect, a system can include a tissue block holder, a blade, a section handling assembly, and an actuator. The tissue block holder can hold a tissue block. The blade can have a blade edge submerged in liquid and is configured to cut a section of the tissue block. The section handling assembly can include a member. The actuator can be configured to cause the member of the section handling assembly to (i) move through the liquid underneath the section floating on a surface of the liquid and (ii) separate the section from the blade edge. The actuator can be configured to cause the member of the section handling assembly to (i) move through the liquid underneath the section floating on a surface of the liquid and (ii) engage the section along an edge of the member.

[0004] In some implementations, the actuator can cause the member to engage the section along an edge of the member and within a threshold distance from the blade edge and / or edge of the member. The actuator may cause the edge of the member engaging the section to rise above a level of the liquid by a defined distance. A surface of the member facing the section can be at angle with the section floating on the surface of the liquid.

[0005] In some implementations, the actuator can cause the member to move the section away from the blade after engaging the section along an edge of the member. In some implementations, the liquid can be water with a temperature of about 4 degrees Celsius. In some implementations, the member can be a wire. In some implementations, the member can be a nichrome wire. In some implementations, the member can define one or more holes through the member. In some implementations, the member can be coated with a hydrophilic material.

[0006] In some implementations, responsive to the section engaging with the member, the actuator can cause the member to dip underneath a level of the liquid to cause the section to float away in a direction of a current of the liquid. In some implementations, the member can include a wedge-shaped structure. In someimplementations, the member can be an elongated structure. In some implementations the member can be a cylindrical structure or a wire.

[0007] In some implementations, the system can include one or more processors configured to cause the section handling assembly to discard the section responsive to detemiining that an image of the section satisfies a section discard condition. In some implementations, the system can include one or more processors configured to cause the section handling assembly to move the section responsive to determining that an image of the section satisfies a section transport condition.

[0008] In some implementations, the system can include at least one camera configured to capture an image of the section floating on the surface of the liquid. In some implementations, the system can include a pool of liquid including at least one gate configured to be lowered to allow pieces of sections to be removed from the pool of liquid. In some implementations, the system can include a robotic subsystem configured to move a slide relative to the section to cause the section to be placed on the slide.

[0009] According to another aspect, a system can include a tissue block holder to hold a tissue block, a blade having a blade edge submerged in liquid and configured to cut a section of the tissue block, a section handling assembly, including a member, and an actuator configured to cause the member of the section handling assembly to (i) move through the liquid underneath the section floating on a surface of the liquid, and (ii) move the section from a first region to a second region subsequent to attachment of the section to the member of the section handling assembly.

[0010] According to yet another aspect, a method can include cutting a section from a tissue block with a blade having a blade edge. The blade edge can be submerged in liquid. The method can include actuating a member of a section handling assembly to move through the liquid underneath the section floating on a surface of the liquid and actuating the member to separate the section from the blade edge. In various implementations, the method includes actuating the member to engage the section along an edge of the member.

[0011] According to another aspect, a system can include a tissue block holder holding a tissue block, a blade having a blade edge submerged in liquid, an actuator configured to cause relative movement between the tissue block holder and the blade to cut a section of tire tissue block, a section manipulator configured to i) detach, from the blade edge, the section of the tissue block responsive to relative movement betw een the tissue block and the blade edge and ii) move the section through a pool of liquid, and a slide manipulator configured to move a slide to pick up the section from the pool of liquid.

[0012] In some implementations, the relative movement between the tissue block holder and the blade can include a vertical relative movement and a horizontal relative movement by a horizontal distance equal to a thickness of the section. In some implementations, a tip of the blade edge can be substantially aligned with a surface of the liquid. In some implementations, the liquid can be water with a temperature of about 4 degrees Celsius.

[0013] According to another aspect, a method can include causing, by one or more processors, relative movement between a tissue block and a blade edge of a blade, the blade edge submerged in liquid, causing, by the one or more processors, a section manipulator to detach, from the blade edge, a section of the tissue block cut by the blade edge responsive to the relative movement between the tissue block and the blade edge, causing, by the one or more processors, the section manipulator to move the section through a pool of liquid, and causing, by the one or more processors, a slide to pick up the section from the pool of liquid.

[0014] In some implementations, causing relative movement between the tissue block and the blade edge can include causing a vertical relative movement and a horizontal relative movement by a horizontal distance equal to a thickness of the section. In some implementations, a tip of the blade edge can be substantially aligned with a surface of the liquid. In some implementations, the liquid can be water with a temperature of about 4 degrees Celsius.

[0015] According to at least one aspect, a system can include a blade configured to cut a plurality of sections of a tissue block at a first region and a plurality of section manipulators, including a first section manipulator configured to perform a section detachment operation to detach a first section of the plurality of sections from the blade, and a second section manipulator configured to perform a section detachment operation to detach a second section of the plurality of sections from the blade, wherein the first section and the second section being consecutive cut sections and / or wherein the first section is cut before the second section is cut.

[0016] In some implementations, each of tire first section manipulator and the second section manipulator is configured to perform a section release operation to release the respective section on a slide. In some implementations, each of the first section manipulator and the second section manipulator is configured to move to a region away from the first region and wait for a determined amount of time. In some implementations, each of the first section manipulator and the second section manipulator is synchronized with a motion of a tissue block holder holding the tissue block, such that the respective section manipulator is configured to detach the respective section upon the blade passing through a length of the block. In some implementations, each of the first section manipulator and the second section manipulator is synchronized with a motion of a slide robotic subsystem, such that the respective section manipulator is able to release the respective section at about a same time as a slide controlled by the slide robotic subsystem makes contact with the respective section. In some implementations, one section manipulator of the plurality of section manipulators is configured to perform a section detachment operation to detach a respective section from the blade, while another section manipulator of the plurality of section manipulators is configured to perform a section release operation to release a respective section for pickup by a slide at a second region.

[0017] According to at least another aspect, a method can include cutting a plurality of sections from a tissue block at a first region with a blade, performing, by a first section manipulator of a plurality of section manipulators, a section detachment operation to detach a first section of the plurality of sections from the blade, and performing, by a second section manipulator of the plurality of section manipulators, a section detachmentoperation to detach a second section of the plurality of sections from the blade, wherein the first section and the second section being consecutive cut sections and / or wherein the first section is cut before the second section is cut.

[0018] In some implementations, the method can include performing, by each of the first section manipulator and the second section manipulator, a section release operation to release the respective section on a slide. In some implementations, the method can include causing each of the first section manipulator and the second section manipulator to move to a region away from the first region and wait for a determined amount of time.

[0019] In some implementations, the method can include synchronizing, each of the first section manipulator and the second section manipulator, with a motion of a tissue block holder holding the tissue block, such that the respective section manipulator is configured to detach the respective section upon the blade passing through a length of the tissue block. In some implementations, the method can include synchronizing each of the first section manipulator and the second section manipulator with a motion of a slide robotic subsystem, such that the respective section manipulator is able to release the respective section at about a same time as a slide controlled by the slide robotic subsystem makes contact with the respective section.

[0020] In some implementations, the method can include performing, by one section manipulator of the plurality of section manipulators, a section detachment operation to detach a respective section from the blade, while another section manipulator of the plurality of section manipulators is configured to perform a section release operation to release a respective section for pickup by a slide at a second region.

[0021] According to at least one aspect, a system can include a blade and a plurality of section manipulators. The blade can be configured to cut a plurality of sections of a tissue block at a first region. The plurality of section manipulators can include a first section manipulator configured to perform a section detachment operation to detach a first section of the plurality of sections from the blade, and a second section manipulator configured to perform a section release operation to release a second section of the plurality of sections for pickup by a slide at a second region while the first section manipulator is performing the section detachment operation.

[0022] Tire plurality of section manipulators can include a third section manipulator configured to carry a third section of the plurality of sections from tire first region towards the second region while the first section manipulator is performing the section detachment operation. The first region can be a first temperature liquid region and the second region is a second temperature liquid region. The first region can include liquid having a temperature between 2 degrees Celsius and 8 degrees Celsius. The second region can include liquid having a temperature about 50 degrees Celsius. The first section manipulator and the second section manipulator can be coupled to a central member configured to cause the first section manipulator and the second section manipulator to move simultaneously between the first region and the second region. The plurality of section manipulators can revolve about an axis. Hie first section manipulator can be configured to perform the section detachment operation responsive to a sensor triggered based on movement of the tissue block. The plurality ofsection manipulators can be configured to move responsive to a sensor triggered based on movement of the tissue block relative to the blade. Tire first section manipulator can be configured to perform the section detachment operation, while a second robotic subsystem is caused to transport a second tissue block from a block storage device towards the first region.

[0023] According to another aspect, a method can include cutting a plurality of sections from a tissue block at a first region with a blade; performing, by a first section manipulator of a plurality of section manipulators, a section detachment operation; and performing, by a second section manipulator of the plurality of section manipulators, a section release operation, while the first section manipulator is performing the section detachment operation. The section detachment operation can include detaching a first section of the plurality of sections from the blade. Tire section release operation can include releasing a second section of the plurality of sections for pickup by a slide at a second region.

[0024] According to at least one aspect, a system can include a tissue block holder holding a tissue block, a blade having a blade edge submerged in liquid, a first actuator configured to cause relative movement between the tissue block holder and the blade to cut a plurality of sections of the tissue block, a plurality of section manipulators, and one or more second actuators configured to control movement of the plurality of section manipulators to cause a first section manipulator of the plurality of section manipulators to detach a first section of the plurality of sections from the blade at a first time, and a second section manipulator of the plurality of section manipulators to detach a second section of the plurality of sections from the blade at a second time after the first time.

[0025] In some implementations, the movement of the plurality of section manipulators can be synchronized with the relative movement of the tissue block and the blade. In some implementations, tire first section manipulator and the second section manipulator can be coupled to a central member configured to cause the first section manipulator and the second section manipulator to move simultaneously between a first region where the first section manipulator detaches sections, and a second region where sections are transferred from the second section manipulator to slides.

[0026] In some implementations, each section manipulator of the plurality of section manipulators can be configured to perform a section detachment operation responsive to a sensor triggered based on movement of the tissue block. In some implementations, a first robotic subsystem can be configured to move tissue blocks from at least one block storage device towards the tissue block holder, while the one or more second actuators are controlling movement of the plurality of section manipulators.

[0027] In some implementations, a first robotic subsystem can be configured to move tissue blocks from the tissue block holder towards a block chilling station or a block storage device, while the one or more second actuators are controlling movement of the plurality of section manipulators.

[0028] In some implementations, the one or more second actuators can be configured to cause the first section manipulator to perform a section discard maneuver by dipping the first section in a liquid medium responsive to detaching the first section from the blade.

[0029] According to at least one aspect, a method can include causing, by a first actuator, relative movement between a tissue block holder and a blade to cut a plurality of sections of a tissue block held by the tissue block holder, causing, by one or more second actuators, a first section manipulator of a plurality of section manipulators to detach a first section of the plurality of sections from the blade at a first time, and causing, by the one or more second actuators, a second section manipulator of the plurality of section manipulators to detach a second section of the plurality of sections from the blade at a second time after the first time.

[0030] In some implementations, the method can include synchronizing movement of the plurality of section manipulators with the relative movement of the tissue block and the blade. In some implementations, the first section manipulator and the second section manipulator can be coupled to a central member and the method can include causing, by the central member, the first section manipulator and the second section manipulator to move simultaneously between a first region where the first section manipulator detaches sections and a second region where sections are transferred from tire second section manipulator to slides.

[0031] In some implementations, the method can include performing, by each section manipulator of the plurality of section manipulators, a section detachment operation responsive to a sensor triggered based on movement of the tissue block. In some implementations, the method can include moving, by a first robotic subsystem, tissue blocks from at least one block storage device towards the tissue block holder, while the one or more second actuators are controlling movement of the plurality of section manipulators.

[0032] In some implementations, the method can include moving, by a first robotic subsystem, tissue blocks from the tissue block holder towards a block chilling station or a block storage device, while the one or more second actuators are controlling movement of the plurality of section manipulators.

[0033] In some implementations, tire method can include causing, by the one or more second actuators, the first section manipulator to perform a section discard maneuver by dipping the first section in a liquid medium responsive to detaching the first section from the blade.

[0034] According to at least one aspect, a system can include a housing, including a first wall defining a slide cartridge loading bay. The system can include at least one slide cartridge having a first side configured to receive a plurality of slides storable in the at least one slide cartridge. Tire system can include a slide cartridge rack disposed within the housing and accessible via the slide cartridge loading bay. The slide cartridge rack can be configured to receive and engage the at least one slide cartridge in a first orientation, such that the first side is facing away from the first wall of the housing and the plurality of slides are accessible to a robotic subsystem inside the housing from the first side of the at least one slide cartridge.

[0035] In some implementations, each slide cartridge of the at least one slide cartridge can include a handle extending from or coupled to a second side opposite to the first side. Each slide cartridge of tire at least oneslide cartridge can include a plurality of slots, each slot arranged at an inclined angle to store a respective slide of the plurality of slides . The inclined angle can be between 15 degrees and 75 degrees . Each slot of the plurality of slots can include at least one slide engagement feature configured to engage a corresponding first edge of a slide. Each slot of the plurality of slots can be defined by a corresponding U-shaped or V-shaped groove, wherein a height of a slot is less than 4 mm at the first end.

[0036] In some implementations, the slide cartridge can include a first side wall and a second side wall. Each of the first side wall and the second side wall can define a plurality of grooves parallel to one another. Each groove can be sized to receive a corresponding side of a slide, such that a respective groove of the first side wall and a corresponding groove of the second side wall support the slide. The slide cartridge rack can be mounted on a gantry within the housing and configured to move along the gantry. Each slide cartridge can include a first set of engagement features, and the slide cartridge rack can include a corresponding second set of engagement features configured to engage with the first set of engagement features. The first set of engagement features and the corresponding second set of engagement features can include a plurality of magnets. The first set of engagement features can include one or more protrusions, and the corresponding second set of engagement features can include one or more recesses. Hie first set of engagement features and the corresponding second set of engagement features can be kinematically constrained features. Each slide of the plurality of slides can include a respective barcode, and the system can further include a barcode reader configured to read the respective barcode of the slide.

[0037] According to at least one aspect, a method can include providing a loading bay defined in a wall of a housing of a microtomy system, providing a slide cartridge rack within the housing and accessible via the loading bay, and receiving by the slide cartridge rack at least one slide cartridge in a first orientation, such that a first side of the at least one slide cartridge configured to receive a plurality of slides storable in the at least one slide cartridge is facing away from the first wall of the housing, and the plurality of slides are accessible to a robotic subsystem inside the housing from the first side of the at least one slide cartridge.

[0038] According to at least one aspect, a system can include a robotic subsystem, and one or more processors coupled to memory. The one or more processors can be configured to determine a position of an edge of a section floating on a surface of a liquid medium, determine, based on the position of the edge of the section, at the surface of the liquid, an entry point of a slide on which to attach the section, and cause the robotic subsystem to (i) move the slide into the liquid medium at the determined entry point, (ii) move the slide towards the edge of the section to make contact with the edge of the section, and withdraw the slide from the liquid medium with the section attached to the slide.

[0039] In some implementations, the system can include a camera, and the one or more processors can be configured to cause the camera to capture an image of the section floating on the surface of the liquid medium, and determine, based on the image, the position of the edge of the section.

[0040] In some implementations, the one or more processors can be configured to determine the edge of the section based on information stored in the memory. The information stored in the memory can include at least one of an indication of a position of a second section or one or more dimensions associated with the tissue block.

[0041] In some implementations, to detennine the position of the edge of the section, the one or more processors can be configured to determine a length of the section, and to determine the entry point of the slide, the one or more processors can be configured to determine a depth at which to move the slide into the liquid medium.

[0042] In some implementations, the entry point can be within a defined distance from the position of the edge of the section.

[0043] In some implementations, the system can further include a camera, and the one or more processors can be configured to cause the camera to capture an image of the section once attached to the slide . The one or more processors can be configured to determine, from the image, that the section satisfies a section release condition, and cause the robotic subsystem to move the slide into the liquid medium, such that the section is detached from the slide once the slide is submerged in the liquid medium. The one or more processors can be configured to determine, from the image, that the section does not satisfy a section release condition, and cause the robotic subsystem to move the slide to a slide storage device responsive to detennining that the section does not satisfy the section release condition.

[0044] In some implementations, the robotic subsystem can be a first robotic subsystem, and the system can further include a second robotic subsystem configured to hold the section floating on the liquid medium. The one or more processors can be configured to cause the second robotic subsystem to release the section responsive to the slide coming into contact with the edge.

[0045] In some implementations, the one or more processors can be configured to cause the robotic subsystem to withdraw the slide from the liquid medium at an inclined angle. The inclined angle can be between 30 and 60 degrees. In some implementations, the one or more processors can be configured to cause the robotic subsystem to withdraw the slide from the liquid medium at a speed of 10-44 mm / second.

[0046] In some implementations, tire section can be a first section, the edge can be a first edge, and the one or more processors can be configured to, subsequent to the robotic subsystem withdrawing tire slide from the liquid medium, determine a position of a second edge of the second section, determine, based on the position of the second edge of the second section, at the surface of the liquid, a second entry point of the slide on which to attach the second section, determine, based on a position of the first section on the slide, a contact region on the slide at which the slide is to come into contact with the second edge of the second section, and cause the robotic subsystem to (i) move the slide into the liquid medium at the second entry point, (ii) move the slide towards the second edge to make contact with the second edge at the contact region and (iii) withdraw the slide from the liquid medium with the second section attached to the slide adjacent to the first section.

[0047] In some implementations, the section can be a first section, the edge can be a first edge, and the one or more processors can be configured to, subsequent to the robotic subsystem withdrawing the slide from the liquid medium, determine a position of a second edge of the second section, determine, based on the position of the second edge of the second section, at the surface of tire liquid, a second entry point of the slide on which to attach the second section, determine, based on a position of the first section on the slide, a contact region on the slide at which the slide is to come into contact with the second edge of the second section, and cause the robotic subsystem to (i) move the slide into the liquid medium at the second entry point, (ii) move the slide towards the second edge to make contact with the second edge at the contact region, (iii) withdraw the slide from the liquid medium with the second section attached to the slide adjacent to the first section, (iv) determine that the second section satisfies a section release condition responsive to analyzing an image of the second section on the slide, and (v) cause the robotic subsystem to move the slide into the liquid medium, such that the second section is detached from the slide once the slide is submerged in the liquid medium.

[0048] According to at least another aspect, a method can include determining, by one or more processors a position of an edge of a section, determining, by the one or more processors, based on the position of the edge of the section, at the surface of the liquid, an entry point of a slide on which to attach the section, moving, by the one or more processors via a robotic subsystem, the slide into the liquid medium at the determined entry point, moving, by the one or more processors via the robotic subsystem, the slide towards the edge of the section to make contact with the edge of the section, and withdrawing, by the one or more processors via the robotic subsystem, the slide from the liquid medium with the section attached to the slide.

[0049] In some implementations, tire method can further include causing a camera to capture an image of the section floating on the surface of the liquid medium to determine, and determining, based on the image, the position of the edge of the section.

[0050] In some implementations, the method can include determining the edge of the section based on information stored in the memory. The information stored in the memory includes at least one of an indication of a position of a second section or one or more dimensions associated with the tissue block.

[0051] In some implementations, determining the position of the edge of the section can include determining, by the one or more processors, a length of the section, and determining the entry point of the slide can further include determining, by the one or more processors, a depth at which to move the slide into the liquid medium.

[0052] In some implementations, the entry point can be within a defined distance from the position of the edge of the section.

[0053] In some implementations, the method can further include causing, by the one or more processors, a camera to capture an image of the section once attached to the slide, determining, by the one or more processors, from the image, that the section satisfies a section release condition, and causing the robotic subsystem to move the slide into the liquid medium, such that the section is detached from the slide once the slide is submerged in the liquid medium. The method can include determining, from the image, that the section does not satisfy asection release condition, and causing the robotic subsystem to move the slide to a slide storage device responsive to determining that the section does not satisfy the section release condition.

[0054] In some implementations, the robotic subsystem can be a first robotic subsystem, and the method can further include holding, by a second robotic subsystem, the section floating on the liquid medium and causing, by the one or more processors, the second robotic subsystem to release the section onto the slide responsive to the slide coming into contact with the edge of the section.

[0055] In some implementations, the method can include causing, by the one or more processors, the robotic subsystem to withdraw the slide from the liquid medium at an inclined angle. The inclined angle can be between 30 and 60 degrees. In some implementations, the method can include causing the robotic subsystem to withdraw the slide from the liquid medium at a speed of 10-44 mm / second.

[0056] In some implementations, the section can be a first section, the edge can be a first edge, and the method can include, subsequent to the robotic subsystem withdrawing the slide from the liquid medium, determining, a position of a second edge of the second section, determining, based on the position of the second edge of the second section, at the surface of the liquid, a second entry point of the slide on which to attach the second section, determining, based on a position of the first section on the slide, a contact region on the slide at which the slide is to come into contact with the second edge of the second section, and causing the robotic subsystem to (i) move the slide into the liquid medium at the second entry point, (ii) move the slide towards the second edge to make contact with the second edge at the contact region and (iii) withdraw the slide from the liquid medium with the second section attached to the slide adjacent to the first section.

[0057] In some implementations, the section can be a first section, the edge can be a first edge, and the method can include, subsequent to the robotic subsystem withdrawing the slide from the liquid medium, determining a position of a second edge of the second section, detennining, based on the position of the second edge of the second section, at the surface of the liquid, a second entry point of the slide on which to attach the second section, determining, based on a position of the first section on the slide, a contact region on the slide at which the slide is to come into contact with the second edge of the second section, and causing the robotic subsystem to (i) move the slide into the liquid medium at the second entry' point, (ii) move the slide towards the second edge to make contact with tire second edge at the contact region, (iii) withdraw the slide from the liquid medium with the second section attached to the slide adjacent to the first section. The method can include determining, by the one or more processors, that the second section satisfies a section release condition responsive to analyzing an image of the second section on the slide, and causing the robotic subsystem to move the slide into the liquid medium such that the second section is detached from the slide once the slide is submerged in the liquid medium.

[0058] According to at least one aspect a microtomy system can include a container, a fluid flow structure, a chute, and a heating element. The container can be configured to contain liquid and can include a fluid inlet and an egress. The fluid flow structure can be arranged to cause a flow pattern at a surface of the liquid towards theegress. The chute can be fluidly coupled to the egress to collect material entering the egress. The heating component can be configured to heat liquid flowing into the container via the fluid inlet to a defined temperature between 40 and 70 degrees Celsius.

[0059] In some implementations, a bottom surface of the container can include a transparent region. Tire microtomy system can include a camera positioned beneath the bottom surface and facing the transparent region to capture images of the surface of the liquid. In some implementations, the fluid inlet can be configured to control the liquid flow into the container to create a constant overflow to maintain a substantially constant temperature at the surface of the liquid.

[0060] In some implementations, the container can include a first barrier gate and a second barrier gate. The first barrier gate can be configured to be lowered relative to the surface of the liquid to allow a robotic subsystem to enter into the container and the second barrier gate can be configured to be lowered relative to the surface of the liquid to allow' the robotic subsystem to exit the container. The robotic subsystem can include a member configured to hold a section or a ribbon of sections over the liquid. The first barrier gate and the second barrier can be arranged at opposite side walls of the container. The first barrier gate and the second barrier gates can be arranged at opposite side walls of tire container and parallel to the flow pattern. The first barrier gate and the second barrier gate can be configured to be moved between a first position that extends above the surface of the liquid and a second position that extends below the surface of the liquid. In some implementations, the microtomy system can further include a camera, positioned above the container and facing the surface of the liquid, to capture images of the surface of the liquid.

[0061] In some implementations, the container can be a first container and the microtomy system can include a robotic subsystem configured to move a section to the first container from a second container containing liquid. In some implementations, the microtomy system can include a robotic subsystem configured to move a slide into the liquid to cause a section of a tissue block floating on the surface of the liquid to attach to the slide and remove the slide out of the liquid with the section attached thereto. In some implementations, the chute can be fluidly coupled to a filter for collecting debris.

[0062] According to another aspect, a method can include causing, by a fluid flow structure, a flow pattern at a surface of liquid towards an egress of a container, the container configured to contain liquid, collecting, by a chute, material entering the egress, and heating the liquid flowing into the container, via a fluid inlet, to a defined temperature between 40 and 70 degrees Celsius.

[0063] In some implementations, a system can include a blade having a blade edge to cut sections of a tissue block. The system can include a first pool of liquid structured to cause a section cut by the blade edge to float within the liquid and extend in a direction away from the blade edge. Tire system can include a second pool of liquid selectively fluidly coupled with the first pool of liquid at a first location. In some implementations, the liquid in the first pool is at a first temperature, and the liquid in the second pool is at a second temperature greater than the first temperature. In some implementations, at least one third pool of liquid selectively fluidlycoupled with the first pool of liquid at a second location adjacent to the first location. Tn some implementaitons, the liquid in the at least one third pool is at the second temperature. In some implementaitons, the first pool includes an inlet with continuous liquid inflow and an egress arranged opposite to the blade which allows for continuous liquid overflow. In some implementaitons, the second pool is laterally spaced from a third pool by the egress. In some implementaitons, an inlet is submerged in the first pool and facing the blade, and wherein the continuous liquid inflow causes the liquid to flow upward towards the blade and then away from the blade on a surface of the liquid. In some implementaitons, an inlet is arranged proximate a surface of the liquid in the first pool, and wherein the continuous liquid inflow causes the liquid to flow away from the blade on the surface of the liquid. In some implementaitons, the system includes a first gate positioned between the first pool and the second pool, the first gate configured to move to selectively fluidly couple the first pool with the second pool and a second gate positioned between the first pool and a third pool, the second gate configured to move to selectively fluidly couple the first pool with the third pool.

[0064] In some implementaitons, the first gate is movable between (i) a first position in which the first pool is fluidly coupled with the second pool and (ii) a second position in which the first pool is fluidly decoupled from the second pool, and wherein the second gate is movable between (i) a first position in which the first pool is fluidly coupled with the third pool and (ii) a second position in which the first pool is fluidly decoupled from the third pool. In some implementaitons. the system includes at least one manipulator configured to engage with a section of the tissue block at the first pool and transport the section to the second pool or at least one third pool. In some implementaitons, the system includes at least one slide positioned within the second pool or the at least one third pool to receive the section from the at least one manipulator. In some implementaitons, the first pool is structured to cause the liquid to flow in a direction away from the blade edge. In some implementaitons, the section cut by the blade edge is at least one of floated over the liquid, on a surface of the liquid, carried by the liquid, suspended in the liquid, or above the liquid.

[0065] Some implementations relate to a method for transporting a section of a tissue block. The method includes supplying a continuous inflow of a liquid to a first pool from a liquid inlet. The method includes directing a flow of the liquid in a direction towards a second pool, wherein the second pool is fluidly coupled with the first pool. The method includes controlling a manipulator to engage with a section of the tissue block at the first pool and transport the section to the second pool. Hie method includes positioning a slide to receive the section at the second pool.

[0066] Some implementations relate to a microtomy system including a first robotic subsystem or storage element including a first slide holding component for holding a slide and a second robotic subsystem including a second slide holding component and a third slide holding component. In some implementations, at least one of the first robotic subsystem or storage element and the second robotic subsystem is configured to transfer a first slide from the first slide holding component to the third slide holding component of the second roboticsubsystem and subsequently transfer a second slide from the second slide holding component to the first slide holding component while the third slide holding component is holding the first slide.

[0067] Some implementations relate to a microtomy system, including a first robotic subsystem or storage element including a plurality of first slide holding components and a second robotic subsystem including a plurality of second slide holding components. In some implementations, the plurality of first slide holding components include a first slide holding component and a second slide holding component. In some implementations, the plurality of second slide holding components in the second robotic subsystem include a third slide holding component, a fourth slide holding component, and a fifth slide holding component. In some implementations, when (i) the first slide holding component includes a first slide, (ii) the second slide holding component includes a second slide, (iii) the third slide holding component includes a third slide, and (iv) tire fourth slide holding component includes a fourth slide the second robotic subsystem is configured to obtain the first slide from the first slide holding component of the first robotic subsystem or storage element and the second robotic subsystem is further configured to provide the third slide or the fourth slide to the first slide holding component, wherein at least one of the third slide or the fourth slide is an unused slide.

[0068] In some implementations, the second robotic subsystem is further configured to, in response to providing the third slide or the fourth slide to the first slide holding component, obtain the second slide from the second slide holding component of the first robotic subsystem or storage element. In some implementations, the second robotic subsystem is further configured to provide the third slide or the fourth slide to the second slide holding component, wherein if the third slide is provided to the first slide holding component the fourth slide is provided, and wherein if the fourth slide is provided to the first slide holding component the third slide is provided. In some implementations, the second robotic subsystem is further configured to, in response to providing the third slide or the fourth slide to the first slide holding component, provide the first slide to an input-output slide component. In some implementations, the second robotic subsystem is further configured to, in response to providing the first slide to the input-output slide component, obtain a fifth slide from the inputoutput slide component, wherein the fifth slide is an unused slide.

[0069] In some implementations, the input-output slide component corresponds to at least one of a used storage device or a used-unused storage device. In some implementations, obtaining the first slide from the first slide holding component includes engaging the first slide using the fifth slide holding component, and wherein providing the first slide to the input-output slide component includes disengaging the first slide from fifth slide holding component. In some implementations, the plurality of second slide holding components in the second robotic subsystem include a third slide holding component and a fourth slide holding component. In some implementations, when (i) the first slide holding component includes a first slide, (ii) the second slide holding component includes a second slide, and (iii) the third slide holding component includes a third slide the second robotic subsystem is configured to obtain the first slide from the first slide holding component of the first robotic subsystem or storage element and the second robotic subsystem is further configured to provide the third slideto the first slide holding component, wherein the third slide is an unused slide. Tn some implementations, the second robotic subsystem is further configured to, in response to providing the third slide of the first slide holding component, provide the first slide to an input-output slide component and the second robotic subsystem is further configured to, in response to providing the first slide to the input-output slide component, obtain a fourth slide from the input-output slide component, wherein the fourth slide is an unused slide.

[0070] Some implementations relate to a microtomy system, including a first robotic arm or storage element including a plurality of first slide holding components and a second robotic subsystem including a plurality of robotic arms, each robotic arm of the plurality of robotic arms including at least one second slide holding component.BRIEF DESCRIPTION OF THE DRAWINGS

[0071] 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. The present systems and methods for section transport and slide management of a robotic microtomy system are described in detail below with reference to the accompanying drawings, wherein:

[0072] FIG. 1 is a block diagram of a microtomy system, according to an example implementation of the current disclosure.

[0073] 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.

[0074] 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.

[0075] FIGS. 2F-2G depict various views of robotic subsystems within the microtomy system, including robotic anns configured for handling tissue blocks, slides, and / or blades, according to an example implementation of the current disclosure.

[0076] FIG. 3 shows various views of a tissue block, according to an example implementation of the current disclosure.

[0077] 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.

[0078] FIG. 5 is a block diagram of a microtomy controlling system, according to an example implementation of the current disclosure.

[0079] FIG. 6 shows an implementation of a multi-microtomy system, according to an example implementation of the current disclosure.

[0080] FIG. 7A is a schematic illustration of a centralized microtomy controlling system, according to an example implementation of the current disclosure.

[0081] FIG. 7B is a block diagram of a distributed microtomy controlling system, according to an example implementation of the current disclosure.

[0082] FIGS. 8A-8C 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.

[0083] FIGS. 9A-9C depict different views of a section manipulator, according to an example implementation of the current disclosure.

[0084] FIGS. 9D and 9E depict different views of a section manipulator, according to an example implementation of the current disclosure.

[0085] FIGS. 10A and 10B depict how a manipulator wedge engages a section cut from the tissue block, according to an example implementation of the current disclosure.

[0086] FIGS. 11A-11F depict other implementations of the section manipulator, according to an example implementation of the current disclosure.

[0087] FIGS. 11G and 11H depict other implementations of the section manipulator, according to an example implementation of the current disclosure.

[0088] FIG. 12 depicts a teardown system, according to an example implementation of the current disclosure.

[0089] FIGS. 13A-13C depict various scenarios of handling a section by a member of the section manipulator, according to an example implementation of the current disclosure.

[0090] FIGS. 13D-13G depict various scenarios of handling a section by a member of the section manipulator, according to an example implementation of the current disclosure.

[0091] FIG. 14A depicts screenshots (i)-(vi) of a video sequence illustrating a teardown process, according to an example implementation of the current disclosure.

[0092] FIG. 14B depicts screenshots (i)-(v) of sequence illustrating a teardown process, according to an example implementation of the current disclosure.

[0093] FIGS. 15A-15E depict various illustrations of a section pathway system including an array of section manipulators, according to an example implementation of the current disclosure.

[0094] FIGS. 15F-15K depict various illustrations of a section pathway system including section manipulators, according to an example implementation of the current disclosure.

[0095] FIGS. 16A and 16B depict a cross-sectional view and a perspective view of a de-wrinkling pool, respectively, according to an example implementation of the current disclosure.

[0096] FIGS. 17A-17D depict various aspects of a barrier gate, according to an example implementation of the current disclosure.

[0097] FIG. 18 illustrates two perspective views of a slide transport system together with the hot de-wrinkling pool, according to an example implementation of the current disclosure.

[0098] FIG. 19A shows multiple images (i)-(v) of a video sequence depicting a section pickup process, according to an example implementation of the current disclosure.

[0099] FIGS. 19B-19D depict various illustrations of a section pickup process, according to an example implementation of the current disclosure.

[0100] FIGS. 20A-20E depict various aspects of a section pickup process, according to an example implementation of the current disclosure.

[0101] FIGS. 20F-20I depict various aspects of a section pickup process, according to an example implementation of the current disclosure.

[0102] FIG. 21 depicts a perspective view of the cleaning system 1524, according to an example implementation of the current disclosure.

[0103] FIG. 22 depicts views of a slide, according to an example implementation of the current disclosure.

[0104] FIGS. 23A-23F depict various aspects of a slide pathway system, according to an example implementation of the current disclosure.

[0105] FIGS. 24A-24E depict various aspects of a slide storage system, according to an example implementation of the current disclosure.

[0106] FIGS. 25 A and 25 B depict aspects of a magnetic coupling system between a slide cartridge 2302 and a slide cartridge rack 2304, according to an example implementation of the current disclosure.

[0107] FIG. 26 shows various outside views of the microtomy system illustrating loading of the slide cartridge rack with slide cartridges, according to an example implementation of the current disclosure.

[0108] FIG. 27 depicts a graphical representation illustrating a mapping or association between tissue blocks and slides, according to an example implementation of the current disclosure.

[0109] FIG. 28 depicts two perspective views of the slide transport system 206, according to an example implementation of the current disclosure.

[0110] FIG. 29 shows two images of a slide, according to an example implementation.

[0111] FIG. 30 shows a method for section teardown, according to an example implementation of the current disclosure.

[0112] FIG. 31 depicts a ribbon of sections cut from a tissue block.

[0113] FIG. 32 shows a sequence of images illustrating sequential detachment and transport of sections by a section manipulator array, according to an example implementation of the current disclosure.

[0114] FIG. 33 depicts a method of sequentially detaching sections cut from a tissue block, according to an example implementation of the current disclosure.

[0115] FIG. 34 shows a flowchart of a method for slide storage, according to an example implementation of the current disclosure.

[0116] FIGS. 35A and 35B depict some of the section defects associated with exposing sections to a hot liquid for too long.

[0117] FIGS. 36A-36C depict some of the defects associated with improper pickup of sections on slides.

[0118] FIG. 37 is a flowchart of a method for detecting a region occupied by one or more sections on a slide, according to example implementation of the current disclosure.

[0119] FIG. 38 depicts a method for determining an entry point of the slide and picking up a section, according to an example implementation of the current disclosure.

[0120] FIG. 39 depicts a method for picking up multiple sections on a slide, according to an example implementation of the current disclosure.

[0121] FIG. 40 depicts a method for automated pickup of sections on slides, according to example implementation of the current disclosure.

[0122] FIG. 41 depicts a section of a cardiac muscle with a fragment of thyroid from another section.

[0123] FIG. 42 depicts a flowchart illustrating a method for auto cleaning a liquid medium from contamination, according to example implementation of the current disclosure.DETAILED DESCRIPTION

[0124] Below are detailed descriptions of various concepts related to, and implementations of, techniques, approaches, methods, apparatuses, and 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

[0125] Histopathology examination of tissue samples involves the examination of tissues or cells under a microscope to diagnose or study diseases of the tissues. The 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 tire 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.

[0126] 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. The 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.

[0127] 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.

[0128] 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 mmand to a length and breadth resulting in a size which can be mounted on a slide. The slide can have a size of 25 mm by 75 mm.

[0129] Tire 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 cellular structures. This water is replaced with paraffin wax. In 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. Tire wax provides structural support during cutting.

[0130] 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 the added molten wax to create a rigid backing for the wax block. The 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.

[0131] 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 (e.g., at least one) 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.

[0132] 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 tiretissue block usually come out with wrinkles, which are not desirable as they prevent reliable examination of the sections under the microscope.

[0133] 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. The 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

[0134] 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 rehydration, 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).

[0135] 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 at least one (e.g., each) tissue block, which slides are used to cany’ 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.

[0136] 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.

[0137] As used herein, “automatically” refers to operations executed without direct manual intervention, where system components perform 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 storedinstructions, 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, intermittently, and / or in response to external conditions. Automatic operations can be localized within individual subsystems and / or coordinated across multiple components through centralized or distributed control mechanisms.

[0138] 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.

[0139] 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.

[0140] 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 the tissue blocks 203 during facing and / or sectioning.

[0141] 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 anda cutting assembly, and a blade holder within the cutting assembly configured to secure a blade for sectioning operations. The 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. Tire blade 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.

[0142] The 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 defect-free 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.

[0143] 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 carry or transport the slides and to pick up or place sections cut from the tissue blocks on the slides.

[0144] Tire 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 tire 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 system 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.

[0145] 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.

[0146] 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 doesnot 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 system 110 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. Tire liquid pathway system 1 10 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.

[0147] The one or more processors 112 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. The one or more processors 112 can be configured to perform or facilitate performance of methods described herein.

[0148] 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.

[0149] 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.

[0150] 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 pathw ay 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 carrierdevice 202, which is also referred to herein as jaw feeder. 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 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 carrier device 202. The tissue block pathway system 102 is described in further detail in section D below.

[0151] The section pathway system 104 can include a cutting assembly including a cutting blade, a pool system 208. the chilling station 210 and one or more section manipulators 212. The pool system 208 can be referred to herein as pool system 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. The 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. The 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.

[0152] The cutting assembly can be viewed as belonging to the section pathway system 104 and the blade pathway system 108. The pool system 208 can include one or more pools providing one or more liquid media. While shown to have a ring shape, the pool system 208 and / or the corresponding pools can be arranged according to other shapes. The 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 system 208. Hie section pathway can include amicrotome 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.

[0153] The slide pathway system 106 can include a slide storage subsystem (or slide storage system) 204 and a slide transport system 206 configured to pick up a slide from the slide storage system 204 and move the slide to a pool of the pool system 208 to pick up a section on the slide. The slide transport system 206 can be referred to herein as slide transport system. Once one or more sections are placed on the slide, the slide transport system 206 can place the slide back in the slide storage system 204.

[0154] The 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. Hie 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.

[0155] The 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. Tire 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. The blade storage subsystem can have a blade loading capacity indicative of the maximum number of blades that can be stored within tire microtomy system 100. The 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.

[0156] 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. Tire 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.

[0157] 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 tire 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 arm 261. Tire 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.

[0158] 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. Tire 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). Tire block-blade robotic arm 261 can pick 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). The 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).

[0159] Tire 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). Hie 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.

[0160] 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 the section length. The 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). Tire 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.

[0161] The block transport subsystem can include a barcode scanner 278 configured to read identifying information 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 system100. 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 to track 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.

[0162] In some implementations, blade pathway system 108 can include block-blade robotic arm subsystem 260. The block-blade robotic ami 261 may include a plurality of block-blade holders 262 on the toolhead which can be configured to pick / drop a blade from / 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. The slide robotic arm 2 1 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.

[0163] 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 ami 251 can be actuated to retrieve slides from slide storage system 204 and position slides for section placement. The slide grippers 252 on the toolhead can be configured to hold, rotate, and secure slides in position during section placement and transport. The slide robotic arm subsystem 250 can be controlled to execute slide transfer sequences between different stations. The slide robotic arm 251 can further position slides for section drying, staining, and transfer to microscopy stations for examination.

[0164] The slide robotic arm 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. The robotic actuation of slide robotic arm 251 can be controlled to perform movements that align slides for receiving cut tissue sections. The slide robotic arm 251 can further transport slides to different processing stations (e.g., drying, staining, microscopy). The slide robotic ami 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).

[0165] The slide robotic arm 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 ami 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 ami 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 withslide grippers 252 to hold slides during transport and placement. The slide robotic arm 2 1 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.

[0166] 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. Tire 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. As used herein, “response to” and / or “responsive” can refer to directly responsive to or indirectly responsive to.

[0167] 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).

[0168] 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. Tire block-blade holders 262 on the toolhead can secure tissue blocks 203 for movement through sectioning, chilling, and barcode scanning stations. Tire 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.

[0169] Tire block-blade robotic arm subsystem 260 can include an articulated amr 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 coupledto 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 the 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). Tire robotic subsystem 260 can then cause the block-blade holder 262 to move in a direction such that tire 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.

[0170] The 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. Tire 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.

[0171] Tire 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. Tire 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.

[0172] 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 10 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 toward the 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, at least one (e.g., 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 amis can be aligned with at least one (e.g., 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 the 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 pennanent magnet to maintain secure attachment to the blade 510 during transport.

[0173] 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. Tire movement of block-blade robotic arm 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 blade pathway 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.

[0174] Tire 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).

[0175] 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)

[0176] 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.

[0177] 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 ann 261, which can align the tissue block 203 for sectioning or barcode scanning before release.

[0178] 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 arm 261 to hold and transport tissue blocks 203 between storage, sectioning, and processing stations (e.g., chilling, barcode scanning). Hie block-blade holders 262 can also hold blades for placement within the cutting assembly of blade pathway system 108 (e.g., blade clamping system 218). 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).

[0179] 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 ami subsystems can include alternative actuation mechanisms (e.g., linear actuators, gantry-based systems) instead of articulated robotic arms. 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 ann 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.

[0180] 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 perfonn 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 performed 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.

[0181] 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 and modify 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. The 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.

[0182] Tire processing circuits can execute instructions to manage data received from imaging systems, sensors, and / or feedback mechanisms deployed within microtomy system 100. Hie 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. The 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. The 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.

[0183] 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. The processing circuits can execute closed-loop control operations byreceiving 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 local microcontrollers embedded in robotic subsystems. In some implementations, control signals can be transmitted to a centralized controller that orchestrates multi-subsystem coordination within microtomy system 100.

[0184] The 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. Hie 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.

[0185] 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, 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. Tire 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 ann 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 ann 261. Hie alignment mechanism can improve positioning tolerances by utilizing multiple contact surfaces on a single rectangular column structure.

[0186] 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). The 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 ami 251 can operate with 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. The 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.

[0187] 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 at least one (e.g., 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. Hie 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.

[0188] 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. The 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 nextteardown 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.

[0189] In some implementations, the section pickup and slide placement pipeline of microtomy system 100 can include a de -bottlenecked configuration for de -wrinkling operations. The microtomy system 100 can incorporate two separate hot pools (e.g., separate stations within system 208) for parallel de-wrinkling of tissue sections. At least one (e.g., each) hot pool can be coupled to a respective slide pickup gantry, and at least one (e.g., 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. Tire slide pickup station includes a mechanical scat that holds the slide during section placement. This scat is submerged in the hot pool for dc- 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.

[0190] In some implementations, the main pool system 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). Tire 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.

[0191] Tire image feedback loop for microtomy system 100 is simplified using a single camera integrated into the main pool system 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 the cold pool. In some configurations, an optional post-slide placement camera can be installed. Tire image data from camera can be processed by the main processor 112. which adjusts motion sequences for section manipulators 212 and grippers 252.

[0192] 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 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.

[0193] 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 abnormality. Tire 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.

[0194] 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.

[0195] 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, tire cutting assembly or the cutting blade can cut one or more sections of the wax block 304 such that at least one (e.g., 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.

[0196] 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.

[0197] 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 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 whomthe 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, retrieve patient 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. 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.

[0198] 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, tire 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).

[0199] 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. The operator may load the blade storage subsystem with new cutting blades and / or load the slide storage system with new slides.

[0200] 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 identity’ available storage slots within the block storage system 201 and position at least one (e.g., 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 at least one (e.g., 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.

[0201] 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 at least one (e.g., 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 sample302 becomes exposed. The processor 1 12 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.

[0202] At STEP 404, the microtomy system 100 can execute a facing operation on the tissue blocks 203 by sequentially positioning at least one (e.g., each) block against the cutting blade 1705. That is, the microtomy system 100 can direct at least one (e.g., 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 the tissue block 203 to expose the embedded tissue sample. In 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 tire 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.

[0203] The microtomy system 100 can perfonn 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 atime, from the block storage system 201 to the chilling station 210 to be chilled. At least one (e.g., 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 at least one (e.g.. each) tissue block 203 for chilling such that sectioning is perfonned on the tissue block 203 right after chilling.

[0204] 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 at least one (e.g., 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 at least one (e.g., 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.

[0205] The microtomy system 100 can perform a sectioning operation on the 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.

[0206] At STEP 408, the microtomy system 100 can perform a sectioning operation by positioning at least one (e.g., each) chilled tissue block 203 against the cutting blade 1705 to generate thin sections. That is, the block pathway system 102 can transport at least one (e.g., 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 and transfer them to slides for subsequent examination. Additionally, the microtomy system 100 can track the number and quality of sections produced from at least one (e.g., each) tissue block 203, discarding defective sections based on imaging analysis.C. Multi-Microtomy System

[0207] Referring now to FIG. 5, a block diagram of a microtomy controlling system 500 is shown, according to an example implementation of the current disclosure. The microtomy controlling system 500 can include a multi-microtomy system 502, including an array 504 of microtomy systems 506, a display device 508, a computer device 510 communicatively coupled to the multi-microtomy system 502, and an input / output (I / O) device 512. The multi -microtomy system 502 can include a processor 514 communicatively coupled to the array 504 of microtomy systems 506 and a memory 516. In some implementations, at least one (e.g., each) of the microtomy systems 506 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, similar to the microtomy system 100 described above, except that the microtomy systems 506 can share a single liquid pathway system 110 configured to provide and / or manage liquid(s) for the plurality of microtomy systems 506. Tire liquid pathway 110 can be fluidly coupled to the microtomy systems 506. In some implementations, at least one (e.g., each) microtomy system 506 can include a respective processor 112 and a respective memory, as described above in relation to FIG. 1. Hie multimicrotomy system 502 may not include the processor 514 and / or the memory 516. In some implementations, at least one (e.g., each) microtomy system 506 can include a respective liquid pathway system 110.

[0208] In some implementations, at least one (e.g., each) of the microtomy systems 506 can implement the method 400 (e.g., an operation of the microtomy systems 506). For example, at least one (e.g., each) microtomy system 506 can receive a respective set of tissue blocks and process, e.g., perfonn, facing, chilling, and sectioning on. the respective set of tissue blocks. Also, at least one (e.g., each) microtomy system 506 can receive a respective set of cutting blades and / or a respective set of slides. The microtomy systems 506 can process respective tissue blocks simultaneously. The microtomy systems 506 can operate independently of at least one (e.g., each) other at least to some extent. In some implementations, time constraints may be imposed on operations of different microtomy systems 506 to allow consecutive display of data from different microtomy systems 506 on the display device 508. 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. Differentmicrotomy systems 506 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 506.

[0209] The processor 514 can be configured to manage or control the timing of different microtomy systems 506 to facilitate or allow consecutive monitoring of semi-automatic processes or stages for different microtomy systems 506. The processor 514 may manage communications or exchange of data between the multimicrotomy system 502 and the computer device 510. The processor 514 can be configured to provide a user interface for display on the display device 508. The user interface can allow display of data from the microtomy system 506 and / or input or selection of parameter values for operational parameters of the microtomy systems 506. Tire memory 516 can store executable instructions that are executed by the processor 514. The executable instructions, when executed by the processor 514, can cause the processor 514 to perform tasks related to managing or controlling the timing of different microtomy systems 506, managing communications with the computer device 510, and / or providing or managing the user interface.

[0210] Tire computer device 510 can be communicatively coupled to the display device 508 and the I / O device 512. In some implementations, the display device 508 and / or the I / O device 512 can be part of the computer device 510. Hie display device 508 can display the user interface for providing or rendering data from the microtomy systems 506. The I / O device 512 can facilitate providing or selecting parameter values for various parameters of the microtomy systems or the corresponding microtomy processes. The display device 508 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 512 can include a mouse, a keyboard, a touch screen, a gaming controller, and / or some other type of I / O devices. Tire computer device 510 can process information output from the multi-microtomy system 502 to communicate to the display device 508. The computer device 510 can run, control, alter, and / or adjust parameters of the multi -microtomy system 502.

[0211] Referring to FIG. 6, an implementation of the multi-microtomy system 502 is shown, according to an example implementation of the current disclosure. The multi-microtomy system 502 includes a pair of microtomy systems 506 stacked vertically one on top of the other and a common liquid pathway system 110 stacked at the bottom beneath the microtomy systems 506. In general, a multi-microtomy system 502 can include any number of microtomy systems 506 which can be stacked or arranged relative to one another according to any of various arrangements or configurations. In some implementations, at least one (e.g., each) microtomy system 506 can include its own liquid pathway system 110. In some implementations, multiple microtomy systems 506 can share a singly liquid pathway system 110.

[0212] In some implementations, at least one (e.g., each) of the microtomy systems 506 can include a respective block loading bay 602, a respective blade loading bay 604, a respective slide loading bay 606, and a respective filtration system bay 608. Hie block loading bay 602 can be a drawer, an inlet, a compartment through which a user or operator can unload tissue blocks 203 or a block storage device from the block storagesystem 201 and load new tissue blocks therein. The operator or user can load the block storage device with new tissue blocks 203 in the microtomy system 506 via the block loading bay 602.

[0213] Tire blade loading bay 604 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. Tire blade loading bay 604 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 506, according to other mechanisms, e.g., other than blade loading bays 604.

[0214] The slide loading bay 606 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 606 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 506 according to other mechanisms, e.g., other than slide loading bays 606.

[0215] The filtration system bay 608 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 506, according to other mechanisms, e.g.. other than filtration system loading bays 608.

[0216] Referring to FIG. 7A, a schematic illustration of a centralized microtomy controlling system 700a is shown, according to an example implementation of the current disclosure. The centralized microtomy controlling system 700a can include one or more multi -microtomy systems 502, a display device 508, and a gaming controller 702 used as an I / O device. In some implementations, other types of I / O devices can be used. At least one (e.g., each) multi-microtomy system 502 can include a corresponding plurality of microtomy systems 506. The centralized microtomy controlling system 700a can be arranged or located in a single location and can be monitored or controlled by an operator 704, such as a histo-technician. The centralized microtomy controlling system 700a can be viewed as an implementation of the microtomy controlling system 500.

[0217] Tire display device 508 can be communicatively coupled to the one or more multi-microtomy systems 502 and / or the corresponding microtomy systems 506. The display device 508 can display information, e.g., via a user interface, about the microtomy system 506 and / or the microtomy processes running therein. For example, the display device 508 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 704 can input or adjust parameters of the microtomy systems 506, such as facing speed, sectioning speed and / or liquid temperature, among others, e.g., by using the gaming controller 702. The operator can interrupt or terminate a microtomy process running a given microtomy system 506 or can shut down the microtomy system 506. The operator 704 can load and unload tissue block 203, cutting blades, and slides or slide storage device into the block loading bay 602, theblade loading bay 604, and the slide loading bay 606, respectively. The operator 704 can load, unload, replace, and adjust the filtration system using the filtration system bay 608.

[0218] Referring now to FIG. 7B, a block diagram of a distributed microtomy controlling system 700b is shown, according to an example implementation of the current disclosure. The distributed microtomy controlling system 700b can include a plurality of microtomy systems 506 or a plurality of multi -microtomy systems 502 distributed, a plurality of computer devices 510. and one or more computer servers 708. The plurality of microtomy systems 506 and the plurality of computer devices 510 can be distributed over multiple geographical areas. The plurality of microtomy systems 506, the plurality of computer devices 510, and the one or more computer servers 708 can be communicatively coupled via a communication network 706. For example, the plurality of microtomy systems 506. the plurality of computer devices 510, and the one or more computer servers 708 can communicate via one or more communications protocols (e.g., Bluetooth, Wi-Fi, cellular, radio, through the Internet, etc.) through the communication network 706.

[0219] The computer server 708 can pair (e.g., allocate, assign, map, etc.) different microtomy systems 506 to different computer devices 510 at different time periods or different stages of the corresponding microtomy processes. A given microtomy system 506 can be monitored by a corresponding computer device 510 paired to the microtomy system 506 during a given time period, and the microtomy system 506 can transmit data associated with an operation of the microtomy system 506 to the corresponding computer device 510 for display. The computer device 510 paired to the microtomy system 506 can control operations of the microtomy system 506 during the allocation time period. A user of the computer device 510 can remotely monitor and / or control a microtomy system 506. For example, the operator 704 of a computer device 510 located in the United States of America can monitor and / or control a microtomy system 506 physically located in the United States of Africa.

[0220] At least one (e.g., each) of the microtomy systems 506 may operate independently of other microtomy systems 506 in processing respective tissue block 203. Processing a tissue block 203 can include the corresponding microtomy system 506 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 506 by a computer device 510. A user of the computer device 510 may control one or more parameters of the microtomy system 506 based on data associated with the operation of the microtomy system 506 presented or displayed by the computer device 510.

[0221] For example, the facing sub-process 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 thicksections 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 506 can provide data related to semi-automated tissue cutting process to a computer device 510 and the computer device 510 can control one or more parameters of the microtomy system 506 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 510.

[0222] 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 506 may be semi-automated.

[0223] Tire microtomy systems 506 can operate independent of one another. Any pair of microtomy systems 506, at some time example, can be perfonning the same sub-process or operation of the microtomy process or can be perfonning different sub-processes or operations. For example, multiple microtomy systems 506 can be perfonning the same sub-process or operation of the microtomy process simultaneously. Multiple microtomy systems 506 can be performing different sub-processes or operations of the microtomy process at some time example. For example, one microtomy system 506 can be performing facing, while another microtomy system 506 is performing sectioning or chilling. At least one (e.g., each) microtomy system 506 is expected to be assigned to, mapped to or paired with a computer device 510 of the plurality of computer devices 510 when the microtomy system 506 is in a semi -automated state. Hie computer device 510, to which the microtomy system 506 is assigned, is configured to monitor and / or control the microtomy system 506 during the semi -automated state of the microtomy system 506.

[0224] In some implementations, such as the case of a depicted in FIG. 7A, the microtomy controlling system 500 may include a single computer device 510 to monitor and / or control multiple microtomy systems 506. The microtomy systems 506 may be configured to operate at different time shifts with respect to one another to avoid long delays waiting to be assigned to be monitored by the computer device 510 during the semi -automated stage, phase or operation. For example, while one microtomy system 506 may be performing a semi -automated stage or phase of the facing process, another microtomy system 506 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 514 may impose the time shifts between the microtomy systems 506. The assignment or mapping of a microtomy system to the computer device 510 may be performed by the processor 514 and / or by the computer device 510.

[0225] According to at least one aspect, the computer server 708 can receive from at least one (e.g., each) microtomy system 506 of the plurality of microtomy systems 506, a state of the microtomy system 506. Thestate of the microtomy system 506 can correspond to or can be indicative of at least one of a first state in which the microtomy system 506 is performing an autonomous tissue cutting process and a second state in which the microtomy system 506 has completed the autonomous tissue cutting process and awaiting assignment to a computer device 510 for a semi-automated tissue cutting process. The computer server 708 can assign, responsive to determining that the microtomy system 506 is in the second state, the microtomy system 506 to a computer device 510 of a plurality of computer devices 510. and cause, responsive to assigning the microtomy system 506 to the computer device, data from the microtomy system 506 to be presented on an interface at the computer device 510, and to facilitate the computer device 510 to control the operation of the microtomy system 506.

[0226] The computer server 708 can receive from at least one (e.g.. each) microtomy system 506 of the plurality of microtomy systems 506, a state of the microtomy system 506. At least one (e.g., each) microtomy system 506 can be configured to periodically send indications of its state to the computer server 708. The microtomy systems 506 may send the indications of their respective states to the computer server 708 responsive to specific events, e.g., switching from one state to another. In some implementations, the computer server 708 may forward the indications of the states of the microtomy systems 506 to the computer devices 510 and / or the microtomy systems 506 may send the indications of their respective states to the computer devices 510. Hie computer server 708 may monitor and / or keep track of the current state of at least one (e.g., each) microtomy system 506.

[0227] The state of the microtomy system 506 can correspond to or can be indicative of the sub-process, stage or operation of the microtomy process that the microtomy system 506 is currently performing. For example, the state of the microtomy system 506 can be indicative of a facing process or a phase or operation thereof that the microtomy system 506 is currently performing. The state of the microtomy system 506 may be indicative of a sectioning process or a phase or operation thereof that the microtomy system 506 is currently performing. The state can correspond or can be indicative of at least one of a first state in which the microtomy system 506 is performing an autonomous tissue cutting process or a second state in which the microtomy system 506 has completed the autonomous tissue cutting process and awaiting assignment to a computer device 510 for a semiautomated 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.

[0228] The computer server 708 can assign, responsive to determining that the microtomy system 506 is in the second state, the microtomy system 506 to a computer device 510 of a plurality of computer devices 510. In some implementations, a computer device 510 having access to or aware of the state of the microtomy system 506 can send an assignment request to the computer server 708 to assign the microtomy system 506 to the computer device 510. In response, the computer server 708 can assign the microtomy system 506 to the computer device 510. In some implementations, the computer server 708 can actively assign the microtomy system 506 to the computer device 510 responsive to the second state of the microtomy system 506. Thecomputer server 708 can assign the microtomy system 506 to the computer device 510 based on the availability of the computer device 510. The computer server 708 can send an indication of the assignment to at least one of the microtomy system 506 or the computer device 510.

[0229] In some implementations, the computer server 708 can, responsive to determining that the microtomy system 506 is in the second state, initiate or trigger initiation of a communication session between the microtomy system 506 and the computer device 510. For example, the computer server 708 can instruct at least one of the microtomy system 506 or the computer device 510 to establish a communication session between them. Tire computer server 708 may establish a communication session with both the microtomy system 506 and the computer device 510, and may act as an intermediate point between the microtomy system 506 and the computer device 510.

[0230] The computer server 708 can cause, responsive to assigning the microtomy system 506 to the computer device, data from the microtomy system 506 to be presented on an interface at the computer device 510 and to allow the computer device 510 to control the operation of the microtomy system 506. The computer server 708 can instruct the microtomy system 506 to provide, transmit or stream data of the microtomy system, e.g., data associated with the operation of tire microtomy system 506, to the computer device 510. Tire 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 506, among others.

[0231] Upon assigning the microtomy system 506 to the computer device 510, the computer server 708 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 510 is unavailable for assignment. Assuming the computer device 510 can monitor only one microtomy system 506 at a time, the computer server 708 can update the availability state of the computer device 510 to ’ unavailable” or ‘’busy”. The computer server 708 can determine, e.g., at a later time after the assignment, that the state of the microtomy system 506 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 506 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”.

[0232] Once the computer device 510 becomes available again, the computer server 708 can determine that a state of another microtomy system 506 has changed from the first state to the second state (e.g., waiting to be assigned to a computer device 510), and assign the other microtomy system 506 to the computer device 510, responsive to determining that the computer device 510 is available. Tire computer server 708 can update the availability status of the computer device 510 to the second availability status, e.g., “unavailable” or “busy”.

[0233] The computer server 708 can determine that the state of a third microtomy system 506 is at the second state, e.g.. waiting to be assigned to a computer device 510. The computer server 708 can select from theplurality of computer devices 510, a second computer device 510 based on the second computer device 510 having the first availability status, e.g., being "available " or “available for new assignment”. The computer server 708 may select the second computer device 510 based on the computer device 510 monitoring the second microtomy system 506 being “unavailable” or “busy”. The computer server 708 can assign to the second computer device 510, the third microtomy system 506 and cause, responsive to assigning the third microtomy system 506 to the second computer device 510. data from the third microtomy system 506 to be presented on an interface at the second computer device 510 to facilitate the second computer device 510 to control the operation of the third microtomy system 506. The computer server 708 can update the availability status of the second computer device 510 to the second availability status, c.g., “unavailable” or “busy”, responsive to assigning the third microtomy system 506 to the second computer device 510.

[0234] 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. Tire 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.

[0235] 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.

[0236] According to at least one aspect, the computer server 708 can monitor states of the plurality of microtomy systems 506 and provide indications of the states of the plurality of microtomy systems 506 to the plurality of computer devices 510. The computer server 708 can assign, responsive to a microtomy system 506 of the plurality of microtomy systems 506 being at a first state, the microtomy system 506 to a computer device 510 of a plurality of computer devices 510, and cause, responsive to assigning the microtomy system 506 to the computer device 510, data associated with an operation of the microtomy system 506 to be provided to the computer device 510. The computer device 510 can control the operation of the microtomy system 506 based on the data received from the microtomy system 506.

[0237] According to at least one aspect, the computer server 708 can determine that a microtomy system 506 of a plurality of microtomy systems 506 is at a first state among the plurality of states, and assign, responsive to determining that the microtomy system 506 is at the first state, the microtomy system 506 to a computer device 510 of the plurality of computer devices 510. The computer server 708 can cause, responsive to assigning the microtomy system 506 to the computer device 510, data associated with an operation of the microtomysystem 506 to be provided to the computer device 510. Tire computer device 510 can control the operation of the microtomy system 506 based on the data from the microtomy system 506.

[0238] Tire state of the microtomy system 506 may be indicative of a current process or a current operation that the microtomy system 506 is performing (e.g., the facing process, the sectioning process, etc.). In some implementations, the state of the microtomy system 506 may be indicative of a time shift or a time period before the microtomy system 506 starts a semi-automated sub-process, stage of operation of the microtomy process. For example, the computer server 708 can monitor when the microtomy system 506 is expected to start semiautomated sub-process, stage of operation of the microtomy process.

[0239] Referring to FIGS. 8A-8C, various snapshots of a user interface (UI) 800 for monitoring and controlling microtomy systems are shown, according to an example implementation of the current disclosure. The user interface (UI) 800 can be provided to the computer server 708 or an application running on the computer devices 510. The user interface 800 can include one or more data items 802, indicative of the states of the microtomy systems, images 804 of the sections cut by the microtomy system 506 assigned to the computer device 510 on which the UI 800 is displayed and images 805 of the tissue block, a data item 806 providing information about the tissue sample 302 embedded in the tissue block 203 from which the sections are cut, a data item 808 indicative of sectioning configuration information, and interactive icons or interactive visual items 810 to control one or more parameters of the corresponding microtomy system 506. Tire images (or graphical items) 812 indicative of various microtomy systems 506 may or may not be part of the UI 800.

[0240] A user can remotely monitor the microtomy system 506 assigned to the computer device 510 on which the UI 800 is displayed based on the data or information presented in the UI 800. Tire user may control and / or adjust one or more parameters of the microtomy system 506 assigned to the computer device, e.g., via the interactive icons or interactive visual items 810. Hie user may interact with the UI 800 via the I / O device 512.

[0241] The data items 802 can depict the current state of at least one (e.g.. each) microtomy system 506. For example, the UI can include a plurality of data items (or visual items). At least one (e.g., each) item can depict the state of a corresponding microtomy system 506. For example, at least one (e.g., each) item 802 can display an indication of the corresponding microtomy system 506 (e.g., a name of the microtomy system 506, a unique identifier associated with the microtomy system 506, etc.), and a process or operation (e.g., facing process, sectioning process, etc.) that is currently performed by the corresponding microtomy system. In some implementations, the item 802 may further depict information about the stage of the process being executed by the corresponding microtomy system 506 (e.g., the starting execution time of the process, the runtime of the execution of the process, etc.), the power status of the corresponding microtomy system 506, the location of the corresponding microtomy system 506, and / or other information associated with the corresponding microtomy systems 506. In some implementations, the items 802 may be interactive allowing the user to select one of the microtomy systems 506 to be assigned to the respective computer device 510. In some examples, the items 802,also referred to as status module 802, can represent a visual representation of the queue of microtomy systems 506 requesting assignment.

[0242] Tire images 804 can represent real-time or near real-time images of the sections cut in the corresponding microtomy system and / or the images 805 can represent real-time or near real-time images of the tissue block 203 from which the sections are cut. Tire image(s) 804 and / or 805 allow the user to assess the sections cut and / or the tissue block 203. For example, during the semi-automated facing stage, the image(s) 804 and / or 805 allow the user to determine whether a “proper” cross section of the tissue sample 302 is exposed to determine when to terminate the facing process.

[0243] Tire data or visual item 806 can display information about the tissue sample and processing applied to the tissue sample, such as grossing. Hie data or visual item 806 may depict information about the size and / or type of the tissue sample.

[0244] The data or visual item 808 can depict configuration information about the sectioning process, such as the number and / or IDs of slides to be used, the number of sections to be placed on at least one (e.g., each) slide, the number of slides to be made, and / or the thickness of at least one (e.g., each) section. The item 808 may be interactive, allowing the user to add more slides and / or specify the number and / or thickness of the sections to be placed on the slides.

[0245] The interactive icons 810 can allow the user to specify, define or adjust the thickness of the sections cut. The interactive icons 810 can allow the user to specify, define or adjust a cutting mode of the section, e.g., a continuous cutting mode or an incremental cutting mode. The interactive icons 810 can allow the user to specify, define or adjust terminate or interrupt the semi-automated process or stage of the microtomy process. For example, upon the user interacting with the item “APPROVE FACING & MOVE TO NEXT TASK,” the computer device 510 can cause the facing process to be terminated and select another microtomy system 506 to be monitored and / or controlled.

[0246] The graphical items 812 can depict images or indications of different microtomy system, and indicate the microtomy system 506 that is currently being monitored and / or controlled via the UI 800. Also, the items 802 can indicate the microtomy system 506 that is currently being monitored and / or controlled via the UI 800. For example, the snapshot of the UI 800 of FIG. 8A illustrates a scenario where the microtomy system “RTM3” is being monitored and / or controlled, the snapshot of the UI 800 of FIG. 8B illustrates a scenario where the microtomy system “RTM4” is being monitored and / or controlled, and the snapshot of the UI 800 of FIG. 8C illustrates a scenario where the microtomy system “RTM1” is being monitored and / or controlled.

[0247] The sequence of the snapshots of the UI 800 in FIGS. 8A-8C illustrate that the microtomy system “RTM3” was first assigned to the computer device 510 on which the UI 800 is displayed, as shown in FIG. 8A. Once the semiautomated facing process on the microtomy system “RTM3” was complete, the microtomy system “RTM4” was then assigned to the computer device 510, as shown in FIG. 8B. Once the semiautomatedfacing process on the microtomy system “RTM4” was complete, the microtomy system “RTM1 ” was then assigned to the computer device 510 as shown in FIG. 8C.DI. Section Transport

[0248] Referring now to FIGS. 9A-9C, different views of a section manipulator 212 are shown, according to an example implementation of the current disclosure. Specifically, FIG. 9A depicts two perspective views of the section manipulator. FIG. 9B depicts a side view of the section manipulator 212. and FIG. 9C depicts an exploded view' of the section manipulator 212. The section manipulator 212 is also referred to herein as a robotic section manipulator 212, a section handling assembly 212, a robotic section handling assembly 212 and / or a robotic device 212 for handling sections cut from the tissue block 203. The section manipulator 212 can include a manipulator arm 902. also referred to herein as manipulator leg 902, and a member 904 coupled to the manipulator arm 902 and configured to engage, interact with or get in contact with a section cut from the tissue block 203.

[0249] The manipulator arm 902 can be configured to rotate with respect to an axis of the section manipulator 212. The member 904 can have an edge 910, also referred to herein as leading edge 910, to engage, interact with or get in contact with a section cut from the tissue block 203. Tire section manipulator 212 can include a motor 912 to actuate, drive or cause rotational motion of the manipulator ami 902. The motor 912 can be mechanically coupled to the manipulator ann 902. The section manipulator 212 can be configured to exhibit linear or translational motion along a linear rail or guide 916. The linear motion can be driven by another motor, e g., not shown in FIGS. 9A and 9B.

[0250] The section manipulator 212 can be communicatively coupled to the processor 112. For example, the processor 112 can be communicatively coupled to the motor 912 or a controller of the motor 912. The section manipulator 212 can include one or more electrical circuits connected or communicatively coupled to the processor 112. In some implementations, the processor 112 can control rotational motion of manipulator arm 902 or the section manipulator 212 to cause movement of the member 904 and the respective leading edge 910. The processor 112 can control rotational motion of manipulator arm 902 by sending signals and / or instructions to the motor 912 or to a controller of the motor 912.

[0251] Tire manipulator ann 902 can rotate around an axis of tire section manipulator 212, e.g., an axis 930 of a shaft 920 of the motor 912. The rotation axis 930 may be at a first end of the manipulator ann 902, while the member 904 may be at another end of the manipulator arm 902 opposite to the first end. Rotational motion of the manipulator arm 902 causes movement of the member 904 and the corresponding leading edge 910. As depicted in FIG. 9B, rotational motion of the manipulator arm 902 facilitates adjustment of the rotary' position of the member 904 with respect to its rotational center, and facilitates a teardown motion profile that is described in further detail below'. In particular, the manipulator ann 902 can rotate during section pickup to cause the member 904 to move or dip beneath the section. Hie section manipulator 212 can move along the linear rail or guide 916 towards the blade and the manipulator arm 902 can rotate in the opposite direction to cause themember 904 to move up and engage the section. The leading edge 910 can engage the section to release or detach the section from the blade. As such, the member 904 can cause the section to detach from the cutting edge of the blade and attach to the leading edge 910 of the member 904. The section manipulator 212 can drag the section while the section is floating on the surface of the liquid in the pool system 208, while tire leading edge 910 of the member 904 is maintained at a defined transport height.

[0252] In some implementations, the microtomy system 100 or the section pathway system 104 can include a plurality of section manipulators 212. At least one (e.g., each) section manipulator 212 can include or have an independent rotational drive to adjust the position of the respective member 904. For example, the section pathway system 104 can include an array of section manipulators 212 configured, structured, or arranged to handle sections cut from a tissue block 203 in a coordinated manner. The use of multiple section manipulators 212 allows for cutting and handling of sections at a relatively fast pace.

[0253] In some implementations, the member 904 can include a wedge or a wedge-shaped structure, e.g., as depicted in FIG. 9B. The member 904 can be mechanically coupled, attached, secured, or fastened to the manipulator arm 902. In some implementations, the member 904 and the corresponding leading edge 910 can have a dimension, e.g., a length, equal to or substantially equal to a width of the slides. As such, the member 904 or the corresponding leading edge 910 can engage the tissue section along a full dimension of the section.

[0254] Referring now to FIG. 9C, an exploded view of the section manipulator 212 is shown, according to an example implementation of the current disclosure. In some implementations, the section manipulator 212 can include a body structure 924 including the linear rail or guide 916.

[0255] Referring now to FIGS. 9D-9E, another implementation of a section manipulator 212 is shown, according to an example implementation of the current disclosure. The implementation of the section manipulator 212 has a linear motion (e.g., one degree of freedom, on an axis) for the manipulator arm 902. Hie member 904 is coupled to the manipulator arm 902, and moves in a same direction as the manipulator ann 902. The manipulator arm 902 can move along the guide 916. The manipulator arm 902 can move along an axis parallel to the guide 916. The guide 916 can be coupled to an actuator coupled to the motor 912 to move the manipulator 902 arm along the guide 916. The guide 916 can extend along a first axis, and the manipulator arm 902 can extend along a second axis parallel to and offset from the first axis. The member 904 can extend from the manipulator ann 902 at an angle between 80 to 100 degrees, inclusive. For example, the member 904 extends at a 90-degree angle from the manipulator ann 902. Tire member 904 can be removably coupled to the manipulator arm 902. In the implementation shown in FIGS. 9D-9E, the motor 912 provides linear motion instead of rotational motion. In various implementations, the section manipulator 212 can be rotated to pick up the section. For example, the member 904 can be submerged in the water body 1006, and the motor 912 can rotate the section manipulator 212 to contact and pick up the section.

[0256] Referring to FIG. 9D, the section manipulator 212 includes the manipulator arm 902, which is linearly actuated along guide 916. Tire guide 916 can provide structural support for constraining the motion ofmanipulator arm 902 along a predefined axis (e.g., vertical, horizontal). The manipulator arm 902 can be coupled to an actuator driven by motor 912, which can generate linear displacement (e.g., stepwise, continuous) along the guide 916. The motor 912 can be configured to control the positioning of manipulator arm 902 based on input signals from processing circuits. Tire member 904 can be connected to the manipulator ami 902 and follows the same motion profile as the manipulator arm 902 during actuation. The member 904 can be configured to interact with sections cut from tissue blocks (e.g., lifting, transferring) by engaging with a section positioned on a liquid surface or a retrieval surface. The orientation of member 904 relative to manipulator arm 902 can facilitate section handling by adjusting its angle of contact with the section. The motion of the manipulator ami 902 along the guide 916 can be controlled based on predefined movement sequences, realtime sensor feedback, and / or adaptive corrections to compensate for variations in section placement.

[0257] Referring to FIG. 9E, the section manipulator 212 is shown in operation, illustrating the movement of manipulator arm 902 and member 904. The motor 912 can actuate guide 916, driving the linear displacement of manipulator ami 902 in an upward or downward direction (e.g., raising, lowering) based on section handling requirements. The member 904 can contact a section positioned within a water body or on a collection surface by moving downward along the guide 916. The member 904 can be positioned at an angle (e .g . , 80- 100 degrees) relative to manipulator ami 902 to facilitate controlled interaction with sections during transfer. Upon contact with a section, the member 904 can exert force (e.g., contact pressure, suction-assisted lifting) to retrieve the section. The upward motion of manipulator arm 902 along guide 916 can lift the section from the retrieval surface, completing the transfer process. The processing circuits can execute instmetions to regulate the speed, displacement, and / or stopping positions of manipulator ami 902 to maintain alignment with section positioning. The motion control parameters (e.g., acceleration, velocity, force thresholds) can be adjusted based on section thickness, adhesion properties, and / or placement accuracy requirements. The section manipulator 212 can be integrated into microtomy system 100 to automate section retrieval and placement, coordinating movements with other system components (e.g., slide transport, section quality assessment).

[0258] FIGS. 10A and 10B depict how the manipulator wedge 904 engages a section 1002 cut from the tissue block 203, according to an example implementation of the current disclosure. As discussed above, the member 904 can be a wedge 904, in some implementations. The manipulator wedge 904 or the respective leading edge 910 can engage, interact with, or come in contact with the section 1002, e.g., at or close to an end of the section. When cut from the tissue block 203, the section 1002 can remain attached to the cutting edge of the blade and can float on the surface of a liquid medium in the pool system 208. The manipulator wedge 904 can approach or engage the section 1002 at an angle 1004, referred to herein as clearance angle 1004, relative to a horizontal surface representing tire liquid surface. Tire clearance angle 1004 allows for liquid filling in the gap between the section 1002 and the manipulator wedge 904. For example, the section can be floating on a water body 1006 and the clearance angle 1004 can be higher or better from the horizontal, allow for a water stream or water flow1008 to enter the region between the hanging section 1002 and the top surface of the manipulator wedge 904 in order to keep the section 1002 floating on and supported by the water surface.

[0259] Tire section 1002 can attach to the leading edge 910 when the manipulator wedge 904 engages or gets in contact with the section 1002. Tire manipulator wedge 904 can include a rounded edge 1010 that is opposite to the leading edge 910 on a surface of the wedge 904. The rounded edge 1010 allows for the water or liquid to run off the manipulator wedge 904 as the manipulator arm rises from the water body or liquid medium 1006. The manipulator wedge 904 can include one or more mounting holes 1012, e.g., as depicted in FIG. 10A. The mounting holes 1012 can be used to couple tire manipulator wedge 904 to the manipulator arm 902. In some implementations, the wedge 904 can be secured using clamping, e.g., instead of the mounting holes 1012. In some implementations, the wedge 904 can have or include a hydrophilic or oleophobic coating. In some implementations, the manipulator wedge 904 can be made of or can include a porous material to have a hydrophilic effect.

[0260] Referring to FIGS. 11A-11F, other implementations of tire section manipulator 212 are depicted, according to an example implementation of the current disclosure. FIG. HA depicts a section manipulator 212, where the member 904 is or includes a nichrome wire 1102 or nichrome strip 1102. Tire nichrome wire 1102 can engage or come in contact with the section 1002 to detach the section 1002 from the cutting edge of the blade. The section 1002 can attach to the nichrome wire 1102 and the section manipulator 212 can drag or transport the section 1002 across the pool system 208. In some implementations, the section manipulator 212 or the sectioning pathway system 104 can include a heating mechanism to heat the nichrome wire 1102 in order to clean nichrome wire 1102 of wax deposits. In some implementations, the nichrome wire 1102 can be connected electrically so that it can heat up and detach section fragment attached to the wire 1102, which allows for self-cleaning of the nichrome wire 1102. The section manipulator 212 can include a pair of members 902a and 902b and one or more nichrome w ires 1102 coupled to pair of members 902a and 902b.

[0261] FIG. 1 IB depicts a section manipulator 212 with a wire 1104 as the member 904. FIG. 11C depicts a section manipulator 212 with a planar structure 1114 as the member 904. In some implementations, the planar structure 1114 can include one or more holes 1116 to allow7the liquid or water in pool system 208 to pass through. The linear guide or rail 916 can allow7the section manipulator 212 move linearly, e.g., towards and / or away from the cutting blade.

[0262] FIG. 11D depicts a section manipulator 212 having a wedge-shaped member 904. The section manipulator 212 can include a spring 1108 coupled to the arm 902 of the section manipulator 212. In some implementations, the spring 1108 can be positioned or arranged beneath the arm 902 of the section manipulator 212. A motor or an actuator can cause the arm 902 to rotate downward around the shaft 914 and deeper into the liquid medium. The spring 1108 can exert a counter force to cause the arm 902 to rotate upward. FIGS 1 IE and 1 IF depict section manipulator 212 having, respectively, a wedge-shaped member 904 and a cylindrical rod the member 904.

[0263] FIG. 1 1G and 1 1H depict the section manipulator 212 with the member 904 being a cylindrical rod. The member 904 can extend from the manipulator arm 902 at a 90-degree angle relative to a surface of the manipulator ami 902. The section manipulator 212 depicted in FIG. 11G can include a first straight portion 1110 and an angled portion 1112 contiguous with the first straight portion 1110. The angled portion 1112 can extend from the first straight portion 1110 at an angle between 20 to 50 degrees, inclusive. The member 904 can be coupled to the angled portion 1112. The section manipulator 212 depicted in FIG. 11H can include a first straight portion 1 1 14 and a plurality of angled portions. The first straight portion 1 1 14 can extend along an axis perpendicular to an offset from an axis the member 904 extends along. A first angled portion 1116 can extend from the first straight portion 1114 at an angle between 40 to 80 degrees, inclusive relative to tire first straight portion 1114. A second angled portion 1118 can extend from the first angled portion 1116 at an angle between 10 to 50 degrees relative to the first angled portion 1116. In various implementations, the second angled portion 1118 extends along an axis that intersects the axis of the first straight portion 1114. A third angled portion 1120 can extend from the second angled portion 1118 at an angle between 10 to 60 degrees, inclusive, relative to the second angled portion 1118. The member 904 can be coupled to the third angled portion 1120.

[0264] Referring to FIG. 11G, the section manipulator 212 includes manipulator arm 902, which has a first straight portion 1110 extending along a primary axis (e.g., vertical, horizontal). Tire angled portion 1112 extends from the first straight portion 1110 at an angle (e.g., between 20 to 50 degrees) and transitions the orientation of member 904 relative to manipulator arm 902. The member 904 is coupled to the angled portion 1112 and extends perpendicular to a surface of manipulator arm 902 (e.g., at 90 degrees, offset at a predefined angle). The positioning of member 904 at the terminal end of angled portion 1112 can shift section pickup relative to the main axis of manipulator ann 902. The structural configuration of manipulator arm 902 and angled portion 1112 can regulate force distribution during section handling operations (e.g., reducing strain on contact points, distributing applied pressure). Tire processing circuits can execute instructions to control movement of manipulator arm 902 (e.g., linear displacement, rotational positioning), coordinating section pickup and transfer operations based on predefined positioning parameters (e.g., section alignment, slide placement). The manipulator arm 902 can be actuated to move along a predefined motion path (e.g., along a guide, constrained by a linkage assembly) based on the configuration of section handling subsystems.

[0265] Referring to FIG. 11H, the section manipulator 212 includes a multi-angled manipulator ami 902, which consists of a first straight portion 1114 and multiple angled segments (e.g.. first angled portion 1116, second angled portion 1118, third angled portion 1120). The first angled portion 1116 extends from the first straight portion 1114 at an angle (e.g., between 40 to 80 degrees), shifting the positioning of the manipulator arm 902 along a predefined trajectory (e.g., offset from the straight portion, extending outward). The second angled portion 1118 extends from the first angled portion 1116 at an angle (e.g., between 10 to 50 degrees) and adjusts the positioning of manipulator arm 902 relative to its original axis (e.g., displacing member 904 along an intersecting axis). The second angled portion 1118 can extend along an axis that intersects the axis of thefirst straight portion 1 1 14 (e.g., forming an offset structure, defining a non-linear movement path). The third angled portion 1120 extends from the second angled portion 1118 at an angle (e.g., between 10 to 60 degrees) and provides the mounting location for member 904 (e.g., affixed via mechanical fasteners, integrated as a single structure). The structural configuration of manipulator arm 902 can determine the force application and positioning of member 904 during section pickup and transfer operations (e.g., defining section contact points, constraining applied pressure). The processing circuits of microtomy system 100 can execute instructions to regulate motion control parameters (e.g., actuation force, displacement range, angular positioning) based on section handling requirements (e.g., section thickness, adhesion properties, alignment conditions). The manipulator arm 902 can interface with additional system components (e.g., sectioning assembly, slide transport system) to synchronize section pickup operations with other processes in microtomy system 100.

[0266] Referring now to FIG. 12. a teardown system 1200 is shown, according to an example implementation of the current disclosure. The teardown system 1200 can be referred to herein as a manipulator drive system 1200. In brief overview, the manipulator drive system 1200 can include a rotary disc 1202, a rotary drive 1204 of the rotary disc 1202, a linear motion drive 1206, a teardown advance pusher 1208 and a rotation drive 1210. Tire manipulator drive system 1200 can be configured, structured and / or arranged to drive, actuate and / or control movements associated with the section manipulator 212. As used herein, a teardown process refers to the process of detaching a hanging section 1002 from the blade or from the cutting edge of the blade.

[0267] The section pathway system 104 can include one or more section manipulators 212 mounted on a rotary disc 1202 that is driven by a rotary drive 1204. The rotary drive 1204 can drive, actuate and / or control rotational motion of the rotary disc 1202 and the section manipulator(s) 212. In particular, the rotary disc 1202 and the rotary drive 1204 can drive motion of the section manipulator(s) 212 between different locations in the pool system 208. Hie pool system 208 can include or can be a ring pool and the rotary drive 1204 can rotationally move the section manipulator(s) around the ring pool. In some implementations, the rotary drive 1204 can include a timing belt to accurately or precisely drive rotational motion of the rotary' disc 1202 and the section manipulator(s) 212. The timing belt allows to accurately or precisely locate rotational position(s) of the section manipulator(s) 212 across the pool system 208. For example, the timing belt can allow accurate determination of location(s) of the section manipulator(s) 212 across the pool system 208 and / or cleaning positions of the section manipulator(s) 212.

[0268] The linear motion drive 1206 can include the teardown advance pusher 1208 and can be configured, structured and / or arranged to drive linear motion of the section manipulator 212 along a linear motion guide 1212. A motor 1214 can actuate or drive linear motion of the linear motion drive 1206 along the linear motion guide 1212. As the linear motion drive 1206 moves along the linear motion guide 1212, the teardown advance pusher 1208 can push the section manipulator towards the blade holder 220, e.g., to engage the section 1002 hanging at the cutting edge of the blade. Tire rotation drive 1210 can be configured, structured and / or arranged to drive, actuate, and / or control rotational motion of the manipulator ami 902. The blade holder 220 can bepositioned or arranged, at least partially, in a main pool of the pool system 208 so that when a section 1002 is cut, the section 1002 floats on the fluid or water in the main pool.

[0269] During a teardown process, the rotary drive 1204 can align a section manipulator 212 and / or a respective structure with the teardown advance pusher 1208. Tire alignment allows the advance pusher 1208 to engage the section manipulator 212 or the respective structure and positions member 904 to be in parallel with the blade secured by the blade holder 220.

[0270] Once the section manipulator 212 is aligned to be engaged by the teardown advance pusher 1208, the linear motion drive 1206 and the rotation drive 1210 can cause the member 904 to move, according to a teardown motion profile in order to engage tire section 1002 and detach the section from the blade. In other words, leveraging the linear motion along tire linear rail or guide 916 and the rotational motion of the manipulator arm 902 relative to a body of the section manipulator 212, the linear motion drive 1206 and the rotation drive 1210, when actuated by the processor 112, can drive motion of the member 904 to bring the leading edge 910 in contact with the section 1002, detach the section 1002 hanging from the cutting edge of the blade, and hold the section 1002 attached to the leading edge 910. The rotation drive 1210 can cause the section 1002 to be released by dipping the member 904 and / or the leading edge 910 under the liquid surface or the water level. The section manipulator 212, as described herein, helps avoid floaters in the pool system 208 to a great extent, as the section 1002 is surrounded by the member 904 or the respective leading edge 910 on one side and a boundary of the pool system 208, e.g., an inner diameter wall of a ring pool system, on another side.

[0271] The processor 112 can coordinate motion and / or actuation of tissue block holder, the rotary drive 1204, the linear motion drive 1206 and / or the rotation drive 1210. For example, prior to a section 1002 being cut from the tissue block 203, the rotation drive 1210 can cause the manipulator arm 902 to rotate downward and dip the leading edge 910 of the member 904 under water or under the liquid surface in the main pool. Submerging the member 904 and the leading edge 910 in the liquid at the main pool prevents a section 1002 cut, or being cut, from the tissue block 203 from being obstructed by the member 904 and / or the leading edge 910. In particular, as the section 1002 is being cut by the blade, the section 1002 gradually floats on tire surface of the liquid in the main pool until the section 1002 is fully cut and hangs from the cutting edge of the blade . Dipping or submerging the member 904 and the respective leading edge 910 in the liquid prior to cutting the section 1002 prevents the section from being obstructed by the member 904 and folding or forming wrinkles as the section gradually enters the main pool and floats on the liquid surface.

[0272] Also, dipping or submerging the member 904 and the respective leading edge 910 in the liquid prior to cutting the section 1002 allows for efficient utilization of time in between cutting two consecutive sections 1002, and allows for teardown of sections without stopping or slowing the cutting of sections or the movement of tire tissue block holder. For example, the processor 112 can actuate the rotation drive 1210 to cause the member 904 and the respective leading edge 910 to go underwater before a new cutting stroke starts or as the tissue block holder moves upward to start a new cutting stroke. The processor 112 and / or tire manipulator drivesystem 1200 can coordinate or synchronize the motion of the section manipulator 212 with the sectioning process, so that the sectioning process can continue uninterrupted, and the member 904 can be positioned under the section 1002 being cut to engage the section 1002 as soon as the section 1002 is fully cut. It is to be noted that to achieve good quality sectioning, it is desired to cut at least one section every (e.g., at least) two seconds and / or any other time period or frame, e.g.. one section every two seconds or one section every second. The desired cutting speed is empirically derived by observing section quality for different cutting speeds. Coordinating the teardown process with the sectioning process, which involves positioning the member 904 beneath the section 1002 being cut, facilitates the microtomy system 100 to perform the sectioning process at the desired cutting speed. In some implementations, the member 904 and / or the respective leading edge 910 can detach the section 1002 from the cutting edge of the blade as soon as, or immediately after, the section 1002 is folly cut from the tissue block 203.

[0273] Upon detecting that the section 1002 is fully cut from the tissue block 203, the processor 112 can actuate or trigger the linear motion drive 1206 to move the section manipulator 212 towards the blade holder 220 and actuate the rotation drive 1210 to cause or trigger upward rotational motion of the manipulator ami 902. As the member 904 moves towards the blade holder 220 and upward towards the liquid surface in the main pool, the leading edge 910 can move to engage the section 1002 at an edge or end of the section attached to the cutting edge of the blade. Once the section is detached from the blade, the linear motion drive 1206 or the teardown advance pusher 1208 can retract from the section manipulator 212 and the section manipulator 212 can hold the section 1002 floating over the liquid or water surface in the main pool. The height or position of the leading edge 910, e.g., relative to the liquid or water surface, can controlled by the rotation drive 1210.

[0274] As the manipulator arm 902 rotates upward, the return position of the manipulator arm 902 along the respective rotation axis can be a factory calibrated position, and can be maintained by or defined at the motor 912 driving the rotational motion of the manipulator arm 902. The factory tuning, or factory calibration, allows the leading edge 910 to be at a defined height above the liquid or water surface, e.g., about 1 mm, when the manipulator arm 902 is at the calibrated rotational return position. Maintaining the leading edge 910 at the defined height above the liquid or water surface facilitates the section 1002 to be held on or attached to the leading edge 910 of the member 904 with a thin film of liquid or water underneath to support the section. Raising the leading edge 910 too high over the liquid or water surface, e.g.. more than the defined height, can lead to a part of the section sticking to the member 904 or to a surface thereof. Also, by not raising the leading edge 910 high enough above the liquid or water surface, e.g., less than the defined height, the section 1002 can detach from the member 904 and can be released. Proper calibrated return position of the manipulator arm 902 facilitates the section manipulator 212 to transport the section 1002 over the liquid or w ater surface in the pool system 208 without damaging or releasing the section 1002.

[0275] Referring now to FIGS. 13A-13C. various scenarios of handling a section 1002 by the member 904 are depicted, according to an example implementation of the current disclosure. FIG. 13A depicts schematicdiagrams 1302 and 1304 illustrating a teardown process, according to an example implementation of the current disclosure. The blade holder 220 can include a pressure plate (or pressure structure) 224 securing the blade 222 to the blade holder 220. The schematic diagram 1302 depicts the position of the leading edge 910 of tire member 904 prior to teardown or detachment of the section 1002 from the blade 222. As shown in the schematic diagram 1302, the section 1002 is hanging from the cutting edge of the blade 222. Tire member 904 and the respective leading edge 910 are submerged under water beneath the section 1002. The dotted line 1306 represents the path of the leading edge 910 of the member 904 as the section manipulator 212 is driven by the linear motion drive 1206 and rotational motion of the manipulator arm 902 is driven by the rotation drive 1210. The dotted line 1306 represents the teardown motion profile the leading edge 910 undertakes when performing a teardown action to detach section 1002 from the blade edge.

[0276] The region 1308 represents the volumetric region within which the leading edge 910 of the member 904 is expected to pass through when engaging the section 1002 after assembly and calibration to minimize teardown waste. The region 1308 can be referred to as the wastage zone 1308. The region 1308 can be of a cylindrical shape with its central axis being at the cutting edge of the blade 222. In some implementations, the region 1308 can have a radius of about 0.75 mm. The radius of the region 1308 can represent the maximum width of any wasted portion 1310 of the section 1002. In other words, by calibrating the section manipulator(s) 212 and / or tire manipulator drive system 1200, such that the leading edge 910 of the member 904 is expected to pass through the wastage zone 1308, the width of the wasted portion 1310 of the section 1002 would not exceed the radius of the wastage zone 1308. The wasted portion 1310 represents a portion of the section 1002 that stays attached or stuck to the blade 222 after the section 1002 is detached from the blade 222. By calibrating the section manipulator(s) 212 and / or the manipulator drive system 1200 to constrain tire leading edge to pass through the region 1308, the width of the wasted portion 1310 is upper bounded by the radius of the region 1308. In some implementations, the manipulator drive system 1200 can be configured to drive the member 904 along the path 1306 and through the region 1308 till the end point 1312, where the leading edge 910 of the member 904 is maintained at about 1 mm above the cutting edge of the blade 222. The radius of the region 1308 can be viewed as representing the margin of error of the path 1306 in the vicinity of the cutting edge of the blade 222.

[0277] It is to be noted that the section 1002 can thermally fuse to the cutting edge of the blade 222 during the cutting of the section 1002 from the tissue block 203. The member 904 or the respective leading edge 910 is expected to detach the section 1002 from the cutting edge of the blade 222. However, practically a desired detachment of the section 1002 may be or may not be achieved, e.g., depending on where the member 904 engages the section 1002. As leading edge 910 of the member 904 crosses the cutting edge of the blade 222 and engages the section 1002, a portion of the section 1002, such as the wasted portion 1310, may be left stuck to the blade 222 and may be wasted as a consequence. Hence, calibrating and / or designing tire section manipulator(s) 212 and / or the manipulator drive system 1200 to constrain the leading edge 910 to pass throughthe region or teardown zone 1308 leads to minimizing or limiting the width of the wasted portion 1310 to be less than the radius of the region 1308 or preferably less than 1 mm. Limiting the width of the wasted portion 1310 to be less than 1 mm is a practical limit or optimization since only wax, but no tissue, is expected at the end of the section attached to the cutting edge of the blade. The end of the section 1002 attached to the cutting edge of the blade 222 typically corresponds to an extreme boundary of the tissue block 203 where there is not tissue but just wax. Calibration can refer to the process by which the teardown motion profile and final height of the manipulator is adjusted to achieve minimal section waste, while allowing teardown and transport of the section 1002.

[0278] Tire thermal fusion during the cutting of the section 1002 produces an adhesive force, causing the section 1002 to stick to the cutting edge of the blade 222. Using relatively cool liquid or water, e.g., with liquid or water temperature of about 4°C, in the main pool reduces the adhesive force to a level that is just enough for the section 1002 to hang from the cutting edge of the blade 222, and facilitates the detachment of the section 1002. Using relatively warm liquid or water would enhance the thermal fusion and increase the adhesive force, which would lead to ineffective teardown and potential compression of the section 1002. Also, the surface tension of the liquid or water in tire main pool allows the section 1002 to float by balancing the weight of the section 1002. A thin film of liquid or water can fonn between the section 1002 and the top surface of the wedge 904. In particular, designing the wedge or member 904 to fonn the clearance angle 1004 with the liquid or water surface allows the liquid or water to enter the region between the member 904 and the liquid or water surface. The lifting force produced by the member 904 as the member 904 approaches the section 1002 can overcome the adsorption forces, and can allow lifting the section 1002 without damaging tire section in case the wax is not strong enough.

[0279] Referring now to FIG. 13B, schematic diagrams 1314 and 1316 depict two teardown scenarios, according to an example implementation of the current disclosure. In particular, the schematic diagram 1314 depicts a desired teardown scenario with a wasted portion 1310 of the section 1002 with minimal or limited width, while the schematic diagram 1316 depicts a section teardown scenario leading to section slippage 1318. To avoid section slippage 1318, the path of the leading edge 910 can be designed or configured to be an inclined path forming an angle with liquid or water surface and / or the section 1002 floating on the liquid or water surface. The manipulator drive system 1200 can drive the member 904 and the respective leading edge 910 along the inclined path 1306 till the end point 1312 at which the section 1002 can be detached from the cutting edge of the blade 222 and the leading edge 910 can be kept or maintained at about 1 mm above the cutting edge of the blade 222 or above the liquid or water surface. Alternatively, if the leading edge 910 engages or makes contact with the section 1002 while moving vertically instead of along an inclined path, the film of water or liquid between the section 1002 and the member 904 can act as a lubricant and allows the section 1002 to slip over the leading edge 910 instead of being tom as depicted in the schematic diagram 1316. Motion of member 904 according to an inclined path combined with a sharp enough leading edge 910 allows the film of water or liquidto drain as the leading edge 910 engages the section 1002. As a result, the section 1002 can make physical contact with the upper surface of the member 904 leading to enough friction to minimize section slippage 1318, and allowing time for upward motion of the leading edge 910 to detach or teardown the section 1002 at vicinity of the cutting edge of the blade 222. Section slippage 1318 is to be avoided or minimized because the slipping portion of the section would be effectively wasted jeopardizing the quality of the section 1002. When dealing with large biopsies, it is possible that the tissue sample 302 might extend close to the borders of the section 1002. Hence, it is desired to minimize wasted section area as a result of improper teardown.

[0280] Referring now to FIG. 13C, another teardown artifact of improper teardown is depicted, according to an example implementation of the current disclosure. In particular, FIG. 13C includes schematic diagram 1320 illustrating a desired teardown scenario, and schematic diagram 1322 illustrating another teardown scenario, where a portion 1324 of the section 1002 sticks to a surface of the member 904 facing the section. One factor that leads to sticking portion 1324 of the section 1002 is the height over the cutting edge of the blade 222, at which the leading edge 910 is maintained. Raising tire leading edge 910 too high, e.g., more than 1 mm, above the cutting edge of the blade 222, can break the surface tension of the water surface 1326 and the water film between the member 904 and the section 1002 can disappear. As a result, a portion 1324 of the section 1002 can rest on or stick to the top surface of the member or wedge 904. This sticking portion 1324 may be detached from the section 1002 when releasing the section 1002 in a hot de-wrinkling pool of the pool system 208, leading to additional wasted portions of the section 1002.

[0281] Some implementations include an actuator 1202 configured to cause the member 904 of the section handling assembly 212 to (i) move through the liquid 1006 underneath the section 1002 floating on a surface 1326 of tire liquid 1006 and (ii) engage the section 1002 along an edge 910 of the member 904. Tire actuator 1202 can be further configured to cause the member 904 of the section handling assembly 212 to engage a second section cut from the tissue sample and separate the second section from the section 1002 (e.g.. first second), for example, when the second section 1324 remains adhered to the section 1002. In some implementations, the tissue sample can be attached to a tissue block 203 and sliced against the blade 222, causing the sections 1002 (e.g., the portion 1324 of the section 1002) to peel off. The actuator 1202 can be configured to cause tire section handling assembly 212 to capture a section 1002 as it detaches from the blade 222.

[0282] In some implementations, a section 1002 can separate from the blade edge 1328 and float (e.g., without maintaining adhesion to the blade edge 1328 or another section in the liquid body) on the liquid surface 1326, unconnected to the blade 222. That is, the section 1002, once detached, can become freely suspended on the surface 1326 of the liquid 1006 rather than remaining in contact with the blade 222 or another section. The actuator 1202 can be configured to cause the section handling assembly 212 to capture a first section detached from the blade 222 and retrieve a second section that remains adhered to the first section. For example, if a second section does not fully separate from the first section during the slicing process, the actuator 1202 candrive the member 904 along a trajectory to separate the sections and retrieve the second section from the floating liquid surface 1326. The actuator 1202 can be further configured to cause the section handling assembly 212 to engage a floating section not connected to the blade 222 and transport the floating section along the liquid surface 1326 for pickup. That is, the actuator 1202 can drive the member 904 through the liquid 1006 to position the edge 910 underneath the floating section, elevate the section above the liquid surface 1326. and direct the section to a defined pickup location for further processing.

[0283] Referring now to FIGS. 13D-13G, additional teardown mechanisms are shown. FIG. 13D depicts a section teardown scenario with an implementation of the section manipulator 212 including a cylindrical rod as the member 904. For example, the section manipulator 212 depicted in FIGS. 13D-G is the section manipulator of FIGS. 9D-E. As shown in FIG. 13D, to pick up the section 1002, the member 904 can be located within the water body 1006 and underneath the section 1002. For example, the member 904 is lowered by the motor 912 into the water body 1006 at a pick-up position 1330. The section manipulator 212 can be configured to move the member 904 to the pick-up position 1330. The section manipulator 212 can be configured to pick up the section 1002 at a certain time. For example, the section manipulator 212 can be configured to pick up the section 1002 prior to a border betw een the section 1002 and the second section 1002 passing over the member 904. The section 1002 can include a first end 1332 and a second end 1334, the second end 1334 closer to the second section 1033, and the member 904 can contact the section 1002 at a point 1336 (e.g., contact point) closer to the second end 1334 than the first end 1332. The second end 1334 can be opposite the first end 1332.

[0284] FIGS. 13E-13F depict an example teardown mechanism. Starting at (i), the member 904 can be positioned by the section manipulator 212 to the pick-up position 1330. The section manipulator 212 can low er the member 903 into the water body 1006 ahead of the block holder 228 beginning an upwards and downwards motion relative to the blade 222. Once begun, as shown in (ii), the block holder 228 can move downwards and generate a first section 2003. The block holder 228 can include a top position 1338 and a bottom position 1340 opposite the top position 1338. Movement of the block holder 228 can extend from the top position 1338 to the bottom position 1340, and the section 1002 can be fully cut once the block holder 228 moves from the top position 1338 to the bottom position 1340. Once cut, the block holder 228 can return to the top position 1338 to slice another section. The top position 1338 of the block holder 228 can be shown in (i), and the bottom position 1340 can be shown in (iii). As the block holder 228 is moving downwards to the bottom position 1340 the section 1002 is in contact with the blade 222 and floating on the water body 1006. Both (iii) and (iv) depict a complete section 1002, and the section 1002 can be in contact with the blade 222. The feeder carrier device 202 can remain in the pickup position 1330 while the tissue block holder 228 moves downwards to generate an additional section 1003. The section 1003 can be connected to the section 1002, and can form a ribbon as the tissue block holder 228 moves down to generate the section 1003. The section 1002 can be in contact with the section 1003, and as a length of the section 1003 increases, the section 1002 can be pushed towards the pickup position 1330 as shown in (v). At (vi), the section manipulator 212 can move the member 904 towards a surfaceof the water body 1006 to prepare to pick up the section 1002 at the contact point 1336. The dashed lines can depict an alternative position of the member 904 at (vi). For example, the dashed lines can be the pickup position 1330. At (viii), the section manipulator 212 can move the member 904 to contact the section 1002 to pick up the section 1002. The member 904 coming into contact with the section 1002 can disconnect the section 1002 from the section 1003, and can remove the section 1002 from contact with the water body 1006. The dashed lines can depict alternative points of contact of the member 904 with the section 1002 to pick up the section. For example, the dashed lines can be the contact point 1336.

[0285] FIGS. 13E-13F can depict improper teardowns. An image (i) can illustrate the member 904 missing a section, and the section manipulator 212 moving the member 904 up and missing a point of contact with the section. This may occur if the block holder 228 and the section manipulator 212 is out of sync. For example, movement of the block holder 228 and the section manipulator 212 can be synchronized to ensure that at least one (e.g., each) section cut by the block holder 228 is picked up by the section manipulator 212. For example, the member 904 can be configured to move up as the block holder 228 moves down. An image (ii) depicts the member 904 coming into contact with a section at a point different than that shown in FIGS. 13D and 13F. For example, the member 904 contacts the section 1002 at the first end 1332. Responsive to the member 904 coming into contact with an end of the section or the section being in contact with the blade 222, the section can wrinkle and become damaged. It is thus desirable for the member 904 to contact and pick up the section at the point shown and described with reference to FIGS. 13D and 13F.

[0286] Referring to FIG. 13D, the section manipulator 212 can position the member 904 within the water body 1006 to facilitate section pickup. The section 1002 can be floating on the surface of the water body 1006, with its first end 1332 and second end 1334 defining opposite edges of the section. Tire member 904 can be actuated to move to a pickup position 1330 beneath the section 1002 before initiating contact. The positioning of member 904 relative to section 1002 can be controlled based on predefined movement sequences or real-time adjustments to compensate for variations in section placement. The contact between member 904 and section 1002 can occur at a contact point 1336 closer to the second end 1334 than the first end 1332. The processing circuits of microtomy system 100 can regulate the movement of section manipulator 212 based on feedback from imaging systems (e.g., optical sensors, edge detection algorithms) to determine the position of section 1002 and adjust pickup timing accordingly.

[0287] Referring to FIG. 13E, a sequence of operations for section teardown is shown, where section manipulator 212 is actuated in coordination with the block holder 228 to facilitate section separation. In step (i), the member 904 can be positioned at the pickup position 1330 beneath the section 1002. The block holder 228 can initiate movement along a vertical axis, generating a first section as it moves downward. In step (ii), the block holder 228 moves from atop position 1338 to a bottom position 1340, cutting (e.g., fully) the section 1002. The section 1002 can remain in contact with the blade 222 and continue floating on the water body 1006. In steps (iii) and (iv), as the block holder 228 returns to the top position 1338. a new section 1003 is generatedand remains in contact with section 1002, forming a ribbon structure . The section manipulator 212 can maintain the member 904 in the pickup position 1330 while the tissue block holder 228 completes sectioning operations. Tire processing circuits can execute movement sequences to adjust the positioning of section manipulator 212 in response to variations in section alignment.

[0288] Referring to FIG. 13F, additional stages of the section teardown process are shown. In step (v), the section 1003 continues to extend from the tissue block as additional sections are generated. The section manipulator 212 can be actuated to move member 904 toward the surface of water body 1006 to prepare for section pickup. In step (vi), the member 904 can be moved into contact with the section 1002 at the designated contact point 1336. The movement of section manipulator 212 can be coordinated with the timing of block holder 228 operations to ensure synchronization between section cutting and pickup. In step (vii), the member 904 can be actuated to apply force at the contact point 1336. separating section 1002 from section 1003 and removing it from contact with the water body 1006. The processing circuits can execute position tracking algorithms to determine the precise location of section 1002 before engaging member 904 for pickup. The section manipulator 212 can be configured to adjust the pickup position dynamically based on real-time sensor feedback.

[0289] Referring to FIG. 13G, a potential misalignment scenario is depicted, illustrating an improper teardown sequence. In step (i), the section manipulator 212 can be actuated to position member 904 for section pickup. If the synchronization between block holder 228 and section manipulator 212 is not maintained, the member 904 may fail to contact the section 1002 at the designated contact point. In step (ii), an improper pickup can result in section 1002 remaining in contact with the blade 222, leading to section wrinkling or misalignment. Tire processing circuits can be configured to adjust movement synchronization between the block holder 228 and section manipulator 212 to minimize improper teardowns. Tire section manipulator 212 can receive control signals based on section position data (e.g.. detected edges, floating position) to improve contact timing and pickup accuracy.

[0290] FIG. 14A depicts a sequence of images (i) -(vi) illustrating a teardown process, according to an example implementation of the current disclosure. As described above in relation to FIG. 12 and depicted in images (i)- (iii), the member 904 of the section manipulator 212 and the respective leading edge 910 can be dipped or submerged in the liquid or water of the main pool, as the block 203 moves downward to have a new section 1002 cut by the blade 222. Images (iv) and (v) depict the member 904 and the respective leading edge 910 moving towards and engaging the section 1002, as the tissue block 203 moves upward to start a new cutting stroke. In image (vi), the section 1002 is detached from the blade 222 and is attached to the leading edge of the member 904. The leading edge 910 of section manipulator 212 can follow a teardown motion profde as depicted in FIG. 13A in a teardown action.

[0291] FIG. 14B depicts a sequence of images (i)-(vi) illustrating another implementation of the teardown process, according to an example implementation of the current disclosure. Similar to the sequence from Fig.14A, within the sequence from Fig. 14B the member 904 of the section manipulator 212 can be dipped or submerged in the liquid or water of the main pool as the block 203 moves downward to have a new section 1002 cut by the blade 222. Images (i) to (iii) depict the member 904 being submerged in the water body 1006. The section manipulator 212 can be positioned at the pickup point 1330 prior to the block holder 228 beginning cutting. Images (iii) and (iv) depict the member 904 moving towards and engaging the section 1002. The member 904 can engage (e.g., contact) the section 1002 in image (iv). In image (v). the section 1002 is detached from a second section 1003 and is attached to the member 904. The leading edge 910 of section manipulator 212 can follow a teardown motion profde as depicted in FIG. 13A in a teardown action. For example, the leading edge 910 can contact the section 1002 at a point described with reference to FIG. 13A. In various implementations, the sequence as shown in FIG. 14B can include two section manipulators 212. Tire section manipulators 212 can be configured to pick up alternating sections. For example, the first section manipulator 212 can be shown in FIG. 14B, and the second section manipulator 212 can be submerged and positioned to pick-up the following section in image (v) at the pickup point 1330. The second section manipulator 212 can follow (iii) and (iv) to pick up the following section, and the first section manipulator 212 can return to its position (e.g., pickup point 1330) in (ii) after the second section manipulator 212 moves to the position shown in (v). Hie second section manipulator 212 can be located on an opposite side of the block holder 228 from the first section manipulator 212. The first section manipulator 212 and the second section manipulator 212 can work in tandem to pick up at least one (e.g., each) section cut by the block holder 228. For example, the second section manipulator 212 can submerge while the first section manipulator 212 picks up a section. The block holder 228 can be configured to cut a section every (e.g., at least) 4 seconds (e.g., move from the top position 1338, to the bottom position 1340, and back to the top position 1338 in 4 seconds), and the first and second section manipulators 212 can be configured to pick up a section every 8 seconds.

[0292] Referring to FIG. 14B, a sequence of section pickup operations is shown, where the section manipulator 212 and member 904 interact with the section 1002 within the water body 1006. In image (i), the section manipulator 212 can be positioned at the pickup point 1330 before the block holder 228 moves downward. The block holder 228 can be configured to move between atop position 1338 and abottom position 1340, generating a new section 1002 upon downward movement. In image (ii), the section manipulator 212 remains submerged as the block 203 moves downward to complete sectioning. The positioning of the section manipulator 212 can be controlled based on real-time feedback from system sensors to maintain synchronization with the movement of the block holder 228. The member 904 can remain submerged beneath the section 1002 as it separates from the tissue block, preventing misalignment before pickup.

[0293] In image (iii), the member 904 begins movement towards the section 1002 to engage at a designated contact point. The processing circuits can execute instructions to determine the optimal and / or preferred engagement position based on the section alignment within the water body 1006. In image (iv), the member 904 contacts section 1002. applying force to secure the section for pickup. The section manipulator 212 can beconfigured to adjust the engagement force based on section thickness, positioning, or floating stability. The processing circuits can coordinate timing signals between the section manipulator 212 and block holder 228 to regulate motion profiles and pickup efficiency.

[0294] In image (v), the section 1002 is detached from the second section 1003 and secured to the member 904. Tire section manipulator 212 can lift the section from the water body 1006 in a controlled motion, ensuring the section does not fold or wrinkle during transfer. The processing circuits can regulate movement trajectories of the section manipulator 212 based on stored motion parameters (e.g., vertical displacement range, acceleration limits). In implementations where two section manipulators 212 operate in tandem, one manipulator can perform section pickup while tire second manipulator submerges into the pickup position 1330 for the next section. Tire coordination between two section manipulators 212 can be regulated based on timing sequences associated with the cutting cycle of block holder 228. The processing circuits can manage synchronization to alternate between manipulators, maintaining continuous section pickup without disrupting sectioning operations.

[0295] Referring now to FIGS. 15A-15E1, various illustrations of a section pathway system 104, including an array of section manipulators are depicted, according to an example implementation of the current disclosure. The section pathway system 104 can include the pool system 208, a plurality of section manipulators 212 mounted on a rotary disc 1202 and a drive assembly 1502 configured, structured and / or arranged to drive rotational motion of the array of section manipulators 212 across a ring pool 1501 of the pool system 208. The array of section manipulators 212 can transport sections 1002 cut from a tissue block 203 along the ring pool according to a circular First-In-First-Out (FIFO) buffer or pattern. The array of section manipulators 212 and the drive assembly 1502 can ensure smooth motion with no jerks nor unwanted movements, when transporting the sections 1002 across the ring pool 1501.

[0296] Referring to FIGS. 15A and 15B. the drive assembly 1502 can be mechanically coupled to the rotary drive assembly 1204 via a timing belt 1504. The timing belt 1504 can be referred to herein as drive belt 1504. The drive assembly 1502 can include a motor 1506 to generate or actuate rotational force that is transferred to the rotary drive assembly 1204 via the timing belt 1504. Rotation of the rotary drive assembly 1204 causes the rotary disc 1202 and the section manipulators 212 to rotate around the ring pool 1501. Rotation of the rotary disc 1202 can cause simultaneous rotation of all the section manipulators 212. Hie drive assembly 1502 and the timing belt 1504 can accurately and / or precisely displace the section manipulators 212 around the ring pool 1501. In other words, the drive assembly 1502 and the timing belt 1504 can accurately position the manipulator arms 902 and the members 904 of the section manipulators 212 at defined positions within the ring pool 1501.

[0297] The tissue block holder 228 can move up and down relative to the blade 222 secured to the blade holder 220 to continuously cut sections 1002 from the tissue block 203. The tissue block holder 228 can be referred to herein as block holder 228, block jaw 228, tissue block jaw 228, tissue block holder assembly 228, or block holder assembly 228. Prior to at least one (e.g., each) cutting stroke, the drive assembly 1502 can rotate thearray of section manipulators 212 to align a section manipulator 212 with the tissue block 203 in order to teardown a new cut section 1002 from the blade 222, and cause the section 1002 to be attached to the member 904 of the section manipulator 212. The drive assembly 1502 can repeat this process with at least one (e.g., each) cutting stroke of the block holder 228 until at least one (e.g., each) section manipulator 212 or a respective member 904 has a corresponding section 1002 attached thereto. As the section manipulators 212 rotate around the ring pool 1501, the respective member 904 can transport the corresponding sections 1002 within the ring pool 1501. At least one (e.g., each) section can be supported by the leading edge 910 of the corresponding section manipulator 212 and can float on the surface of the liquid or water in the ring pool 1501. Transporting the sections 1002 on the liquid or water surface allows to maintain the structural integrity of the cut sections 1002 right from the cutting edge of the blade 222 till the sections are picked up on one or more slides.

[0298] The section pathway system 104 can include a camera 1508 positioned and / or arranged to be facing the tissue block 203 secured in the block holder 228. The camera 1508 can be configured to capture images of the tissue block 203, e.g., at least one (e.g., each) time a new section 1002 is cut from the tissue block 203. In some implementations, the processor 112 can control, trigger, and / or instruct the camera 1508 to capture images of the tissue block 203 at defined or specified time examples. Tire processor 112 can select or choose a subset of the cut sections 1002 based on section images captured by the camera 1508 and / or one or more other cameras, e.g.. another camera facing a main pool in the ring pool 1501. The section pathway system 104 can include another camera 1508 positioned and / or arranged to be facing the main pool 1510 and configured or triggered to capture images of sections cut from the tissue block 203 and floating on the liquid surface. The camera can capture one or more images at least one (e.g., each) time a new section 1002 is cut from the tissue block 203.

[0299] Tire circular mechanism allows for rapid serial sectioning and section transport and also allows for section pickup to be run in parallel with block exchange at the block holder 228. For example, a sequence of sections 1002 can be serially cut without interruption until at least one (e.g., each) section manipulator 212 has a corresponding section 1002 attached to the member 904 of the section manipulator 212. After at least one (e.g., each) cycle, the sections 1002 can be assessed and placed on slides to be examined, as discussed in further detail below, so that the section manipulators 212 can be ready for tearing down new7sections 1002, e.g., associated with a new tissue block 203. thereby minimizing wait time between tissue blocks 203. In other words, the processor 112 can assess the quality of the sections 1002 maintained by tire section manipulators 212 and cause the sections 1002 to be released from the section manipulators 212 or picked up by one or more slides, while tissue blocks 203 are being exchanged at the block holder 228. The circular motion of the section manipulators 212 around the ring pool 1501 leads to uninterrupted feed of section manipulators with corresponding sections 1002 and facilitates faster handling of cut sections 1002 compared to other designs.

[0300] Referring now to FIG. 15C, an implementation of the pool system 208 is depicted, according to an example implementation of the current disclosure. The pool system 208 can include the ring pool 1501 filled, or to be filled, with a liquid such as water. The ring pool 1501 can include a main pool 1510 hosting the bladeholder 220 and a hot de-wrinkling pool 1512. The hot de-wrinkling pool 1512 can be referred to herein as pickup pool 1512, where sections 1002 are picked up on slides. As discussed above, the main pool 1510 can be filled with cool water or more generally a cool liquid, e.g., with a liquid temperature of about 4°C, to help reduce or alleviate thermal fusion during tire cutting of sections 1002 from the tissue block 203. In some implementations, the main pool 1510 can include a respective overflow gate 1514 and one or more respective barrier gates 1516. In some implementations, the hot de-wrinkling pool 1512 can include a respective overflow gate 1518 and one or more respective barrier gates 1520. In some implementations, the ring pool 1501 can include a respective overflow gate 1514. Tire ring pool 1501 can include one or more inlets 1526 to provide liquid flow or water flow' into the ring pool 1501.

[0301] The ring pool 1501 can act or can be used as a transport path for sections 1002 cut from the tissue block 203. The members 904 of the section manipulators 212 can be submerged within the liquid or water in the ring pool 1501. As the section manipulators 212 rotate, the members 904 move within the ring pool 1501, dragging the sections 1002 attached thereto, 'hile the sections 1002 are floating on the liquid or water surface. The temperature of the liquid or water in the hot de-wrinkling pool 1512 can be relatively hot, e.g., maintained at about 50°C, while the temperature of the liquid or water in tire main pool and the rest of the ring pool 1501 can be relatively cool, e.g., maintained at about 4°C.

[0302] In some implementations, the ring pool 1501 can have multiple inlets 1526 of cool liquid or water, e.g., at about 4°C, located or distributed at different locations of the ring pool. The inlets 1526 can be configured to provide a laminar flow rate. The inflow of cool liquid or water, e g., at a temperature of about 4°C, at different locations of the ring pool 1501 allows for accurate temperature control throughout the transport path of the sections 1002. For example, if a single inlet 1526 is used for cool water inflow', the temperature variation from the main pool 1510 to the hot de-wrinkling pool 1512 w ould have been a gradient from 4°C to 50°C in steady state. As such, it is desired to have multiple inlets 1526 to counter this gradient and maintain 4°C throughout the ring pool 1501 and 50°C only in the hot de-wrinkling pool 1512. The sections 1002 cut from the tissue block 203 and attached to the members 904 of the section manipulators 212 can be maintained in the ring pool 1501 at the cold liquid or water temperature, e.g., about 4°C, until the sections 1002 are transported to the hot de- wrinkling pool 1512, e.g., one at a time.

[0303] Besides maintaining the desired liquid temperature(s), the non-zero liquid flow rate provides an autocleaning mechanism for pushing any residue, e.g.. floaters or waxy residue, out of the ring pool 1501. In some implementations, the inlet(s) 1526 can include one or more rivets or extrusions within the ring pool 1501 to control the flow of liquid or w ater within the ring pool 1501. In some implementations, the inlets 1526 and / or any other inlets in the main pool 1510 or the hot de-wrinkling pool 1512 may include deflectors positioned at the inlet to reduce turbulence, allowing for more reliability of transport, pickup and imaging of sections 1002.

[0304] The overflow gates 1514 and 1518 can be configured, structured and / or arranged to maintain desired level(s) of w ater or liquid in the main pool 1510, the hot de-wrinkling pool 1512 and the rest of the ring pool1501. In some implementations, the overflow gates 1514 and 1518 can maintain the same level of liquid or water across the pools 1501, 1510 and 1512. Maintaining the same level of liquid or water across the pools 1501, 1510 and 1512 can help avoid or mitigate liquid turbulence, especially as the members 904 and the sections 1002 attached thereto move between the pools 1501, 1510 and 1512. In the main pool 1510, the overflow gate 1514 can be configured to maintain a liquid or water level to achieve a desired meniscus profile at the cutting edge of the blade 222.

[0305] The barrier gates 1516 can provide dynamic barriers for the main pool 1510 to separate the main pool 1510 from the rest of the ring pool 1501. Similarly, the barrier gate(s) 1520 can provide one or more dynamic barriers to separate the de-wrinkling pool 1512 from the rest of the ring pool 1501. Tire processor 112 can cause the barrier gates 1516 to move downward, e.g., to the bottom of the ring pool 1501. as a manipulator arm 902 or the corresponding member 904 moves into or out of the main pool 1510. Also, the processor 112 can cause the barrier gate(s) 1520 to move downward, e.g., to the bottom of the ring pool 1501, as a manipulator arm 902 or the corresponding member 904 moves into or out of the hot de-wrinkling pool 1512.

[0306] Referring now to FIG. 15D, multiple images (i)-(iv) of a video sequence depicting transport of a section 1002 into the hot de-wrinkling pool 1512 are shown, according to an example implementation of the current disclosure. As depicted in images (i) and (ii), the section 1002 can be maintained at the ring pool 1501 at cold liquid or water temperature until it is time to move the section 1002 into the hot de-wrinkling pool 1512. A slide can be immersed in the hot de-wrinkling pool 1512 to pick up the section 1002 once brought to the hot de- wrinkling pool 1512. As depicted in the image (iii), the processor 112 can cause the barrier gate 1520 to move towards the bottom of the ring pool 1501 or the bottom of the hot de-wrinkling pool 1512, as the section manipulator or the corresponding arm 902 moves towards the hot de-wrinkling pool 1512 with the section 1002 attached thereto. The barrier gate 1520 can move downward in order not to obstruct the manipulator ann 902 or the corresponding member 904. Once the member 904 and the section attached thereto are in the hot de- wrinkling pool 1512, the barrier gate 1520 can rise again to separate the hot de-wrinkling pool 1512 from the rest of the ring pool 1501 in order to maintain the desired liquid or water temperatures at both the hot de- wrinkling pool 1512 and the rest of the ring pool 1501, as depicted in image (iv).

[0307] Referring now to FIG. 15E, another implementation of the pool system 208 is shown, according to an example implementation ofthe current disclosure. Hie main pool 1510 and the hot de-wrinkling pool 1512 can be arranged, according to a linear arrangement instead of a circular arrangement. For example, the main pool 1510 and the hot de-wrinkling pool 1512 can be adjacent to at least one (e.g., each) in a linear arrangement. The main pool 1510 and the hot de-wrinkling pool 1512 can be separated by a barrier gate 1520. A manipulator drive system can cause detachment of a section from the blade edge and transport the section from the main pool 1510 to the hot de-wrinkling pool 1512, e.g., over the barrier gate 1520 when the barrier gate 1520 is in the downward position or open state.

[0308] Referring now to FIGS. 15F-15K, another implementation of the section pathway system 104 and the pool system 208 is shown, according to an example implementation of the current disclosure. The section pathway system 104 includes a plurality of section manipulators 212 coupled with robotic subsystems configured to move the section manipulators 212 in three degrees of freedom (e.g.. in a lateral direction, a longitudinal direction, and a vertical direction). In other words, the robotic subsystems are structured and arranged to facilitate three-dimensional movement of the section manipulators 212 (e.g., within an x-y-z coordinate system). Generally, the section manipulators 212 may facilitate receiving sections 1002 cut from the tissue block 203 and transporting the sections 1002 within and along the pool system 208 (e.g., following the shape of the pool system 208) for pickup by the slide transport system 206. In some implementations, the camera 1508 and the camera 1530 operate substantially similarly as described herein with reference to other implementations.

[0309] Referring to FIG. 15F, the section pathway system 104 includes a first section manipulator gantry 232 along a right side of the pool system 208 and a second section manipulator gantry 232 along a left side of the pool system 208, at least one (e.g., each) including a section manipulator 212. The first section manipulator gantry 232 and the second section manipulator gantry 232 are configured to move the respective section manipulators 212 in the lateral direction (e.g., a left-to-right direction) and the longitudinal direction (e.g., a front-to-back direction). By way of example, the first section manipulator gantry 232 and the second section manipulator gantry 232 translate along first rails 1532 extending in the lateral direction and along second rails 1534 extending in the longitudinal direction. Referring to FIG. 15F, the section pathway system 104 includes a first pickup gantry 230 along the right side of tire pool system 208 and a second pickup gantry 230 along the left side of the pool system 208. As discussed in greater detail herein, the first pickup gantry’ 230 is configured to position a slide (e.g., slide 2002) to pick-up a section 1002 and the second pickup gantry 230 is configured to position a slide (e.g., slide 2002) to pick-up a section 1002. Hie first section manipulator gantry 232 and the second section manipulator gantry 232 may position the section manipulators 212 to receive the sections 1002 cut from the tissue block 203 and transport the sections 1002 through the pool system 208 (e.g., such that the sections 1002 are floated over the liquid, on a surface of the liquid, carried by the liquid, suspended in the liquid, above the liquid, etc ). The section manipulators 212 to receive the sections 1002 in the main pool 1510 and are moved by the section manipulator gantries 232 to the hot de-wrinkling pools 1512 for pickup by the slides positioned by the pickup gantries 230.

[0310] The first section manipulator gantry 232 and the second section manipulator gantry 232 may be configured to cooperatively operate in tandem with at least one (e.g., each) other to position the section manipulators 212 to receive the sections 1002 cut from the tissue block 203. In some implementations, the section manipulator gantries 232 work in staggered timelines such that, while one of the first section manipulator gantry 232 or the second section manipulator gantry 232 positions the section manipulator 212 to engage with a new section 1002 in front of and cut by the blade 222, the other one of the first section manipulatorgantry 232 or the second section manipulator gantry 232 is delivering the previously engaged section 1002 to the corresponding slide pickup gantry 230. By way of example, the first section manipulator gantry' 232 and the second section manipulator gantry 232 may operate at a 50% phase delay from at least one (e.g., each) other. This pattern (e.g., phase-delayed operation, staggered operation, etc.) eliminates the need for a buffer (e.g., slowing down movement of one of the first section manipulator gantry 232 or the second section manipulator gantry 232) because a section 1002 transported by a first section manipulator 212 is picked up on a slide in tandem with a second section manipulator 212 receiving a section 1002 (e.g., during a teardown process in front of the blade 222). In some implementations, a complete cycle (e.g., phase) for receiving a section 1002, transporting the section 1002 to be picked up by the slide, and transporting back to receive another section 1002 is about eight seconds. In such implementations, with two section manipulator gantries 232 operating with a 50% phase delay from at least one (e.g., each) other, a section 1002 may be received by a respective section manipulator 212 about every four seconds and picked up by a slide about every four seconds. In other implementations, the complete cycle is less than or greater than eight seconds (e.g., four seconds, six seconds, 10 seconds, etc.). In such implementations, the time to complete a cycle may vary' based on a type of the tissue of the section 1002 (e.g., the varying types of tissues needing varying soak times in the hot de-wrinkling pool 1512 to adequately de-wrinkle).

[0311] Referring to FIG. 15F, the pool system 208 can be structured to facilitate the controlled movement of sections 1002 from the sectioning area to the pickup region. The pool system 208 can include amain pool 1510 and hot de-wrinkling pools 1512, where the sections 1002 can be floated, carried, or suspended in a liquid medium (e.g., water, buffered solution). The first section manipulator gantry' 232 and the second section manipulator gantry' 232 can transport sections 1002 through the pool system 208 along predefined paths based on motion control sequences. The section manipulators 212 are configured to interface with the liquid surface to receive sections 1002, maintaining alignment with the motion of the tissue block 203 and blade 222. The processing circuits can regulate the movement of section manipulators 212 along first rails 1532 and second rails 1534, coordinating positioning adjustments in response to section flow conditions within the pool system 208. The pool system 208 can be configured to regulate liquid properties (e.g., temperature, surface tension, viscosity) to maintain section stability before pickup by the slide transport system 206.

[0312] The pool system 208 can include liquid flow control mechanisms that can manage section positioning within the main pool 1510 and hot de-wrinkling pools 1512. The movement of sections 1002 within the pool system 208 can be directed by controlled liquid agitation (e.g., gentle circulation, localized turbulence) to prevent overlapping or unwanted adhesion between sections. The first pickup gantry' 230 and second pickup gantry' 230 can be structured to position slides within the pool system 208 for section pickup. The positioning of slides can be coordinated with section transport operations by section manipulator gantries 232 to ensure sections 1002 reach the correct pickup location. The processing circuits can execute movement sequences to adjust slide positioning within the pool system 208 based on real-time feedback from imaging systems (e.g.,optical sensors, camera 1530). The camera 1508 can monitor section movement within the pool system 208, detecting section misalignment or improper floating conditions for corrective action.

[0313] Tire section pathway system 104 can be structured to interface with the pool system 208. Hie first section manipulator gantry 232 and second section manipulator gantry 232 may operate at phase-delayed intervals to maintain continuous and / or regular section flow through the pool system 208. The processing circuits can regulate the timing of section manipulator 212 movements to ensure that at least one (e.g., each) section 1002 enters the hot de-wrinkling pools 1512 for a predefined duration before pickup. The duration of section exposure within the hot de-wrinkling pools 1512 can be adjusted based on section properties (e.g., thickness, tissue composition). The pool system 208 can include temperature regulation components that maintain the liquid at a controlled temperature to facilitate section relaxation and flattening. Hie movement of sections 1002 within the pool system 208 can be monitored by sensors that detect section position and orientation before transfer to the slide pickup gantries 230. Hie processing circuits can adjust manipulator motion to correct for section displacement or misalignment within the liquid medium.

[0314] Hie pickup gantries 230 interact with the pool system 208 to extract sections 1002 from the liquid surface and position them onto slides. The positioning of pickup gantries 230 can be adjusted along first rails 1532 and second rails 1534 to align with section movement within the pool system 208. Hie pickup gantries 230 can regulate the slide positioning within the de-wrinkling pools 1 12 to improve section pickup based on timing sequences established by the section manipulator gantries 232. The processing circuits can execute synchronization algorithms to coordinate slide positioning with section arrival, preventing section misalignment during pickup. The pool system 208 can incorporate feedback control loops that adjust liquid flow conditions in response to real-time section behavior. Hie processing circuits can regulate the speed of section transfer through the pool system 208 to maintain continuous section availability for pickup by the slides.

[0315] The block -blade robotic arm subsystem 260 can perform operations similar to the pickup gantries 230 in retrieving sections 1002 from the liquid surface within the pool system 208. The block -blade robotic arm subsystem 260 can include an articulated arm 261 having a section manipulator 262 configured to engage with sections 1002 for pickup and transfer. The robotic subsystem 260 can cause the section manipulator 262 to move to a first position where the section manipulator 262 is aligned with a section 1002 floating in the main pool 1510 or hot de-wrinkling pools 1512. Hie robotic subsystem 260 can further cause the section manipulator 262 to move from the first position to a second position such that tire section 1002 remains engaged with the section manipulator 262 while being transported toward a slide positioned within the pool system 208. The robotic subsystem 260 can then cause the section manipulator 262 to move in a direction such that the section 1002 is deposited onto the slide.

[0316] Hie section manipulator 262 can be configured to adjust its inclination angle to match the surface tension dynamics of the liquid in the pool system 208. As the section manipulator 262 approaches the section 1002, the robotic subsystem 260 can adjust its positioning based on real-time feedback from imaging systems(e.g., camera 1508) to compensate for section drift. Tire processing circuits can execute motion control parameters that regulate the speed and trajectory' of section pickup, preventing section deformation during transfer. The robotic subsystem 260 can further synchronize its movements with the section manipulator gantries 232 to avoid overlapping section retrieval. The section manipulator 262 can deposit the section 1002 onto a slide within the pool system 208, coordinating with the slide transport system 206 to maintain continuous section processing. The robotic subsystem 260 can iteratively execute section retrieval and deposition operations, ensuring that sections 1002 are continuously transferred from the liquid surface to slides without disruption to the sectioning workflow.

[0317] Referring now to FIG. 15G, another implementation of the pool system 208 is shown, according to an example implementation of the current disclosure. As shown, the pool system pool system 208 includes the main pool 1510 filled with a liquid such as water and configured to host the blade holder 220 holding the blade 222. The main pool 1510 may include one or more inlets 1526 to provide liquid flow or water flow into the main pool 1510. In some implementations, the main pool 1510 includes a first inlet 1526 submerged in the main pool 1510 and facing the blade 222. Tire continuous liquid inflow from the first inlet 1526 may cause the liquid to flow' upward towards the blade 222 and then away from the blade 222 on a surface of the liquid. In some implementations, the main pool 1510 includes a second inlet 1526 and / or a third inlet 1526 arranged proximate a surface of the liquid in the main pool 1510. Tire continuous liquid inflow from the second inlet 1526 and / or the third inlet 1526 may cause the liquid to flow away from the blade 222 on the surface of the liquid. The second inlet 1526 and the third inlet 1526 may be positioned proximate comers of the main pool 1510 to the left and right of the blade holder 220. In some implementations, the second inlet 1526 and / or the third inlet 1526 include one or more baffles positioned to direct the liquid from the second inlet 1526 and / orthe third inlet 1526. By way of example, the baffles may be positioned to direct the liquid to manage or otherwise mitigate dead zones in the main pool 1510 (e.g., areas in the main pool 1510 with stagnant or slow-moving liquid). By way of another example, the baffles may be positioned be used to help cause the liquid to flow away from the blade 222 on the surface of the liquid. In some implementations, the inlets 1526 provide a continuous liquid inflow at a first temperature of about 4°C, and / or a range, such as 2-6 degrees Celsius. In some implementations, the liquid in tire main pool 1510 is less than or greater than about 4°C, and / or a range, such as less than about 2-6 degrees Celsius. In some implementations, the liquid provided to the main pool 1510 by the inlets 1526 is received from a fluid source (e.g.. fluid tank, fluid reservoir, etc.) that stores, cools, heats, maintains, etc., the fluid at the first temperature.

[0318] Referring still to FIG. 15G, the main pool main pool 1510 includes an overflow' gate 1514 configured, structured and / or arranged to maintain a desired level of liquid in the main pool 1510. In some implementations, the position (e.g., height) of the overflow gate 1514 is adjustable to achieve the desired level of liquid in the main pool 1510. The main pool 1510 includes an egress (e g., an outlet, a liquid exit, an overflow exit, etc.), shown as egress 1538. that can facilitate continuous overflow of the liquid held by the main pool 1510.

[0319] Referring still to FIG. 15G, the pool system 208 includes a first hot de-wrinkling pool 1512 and a second hot de-wrinkling pool 1512. Tire first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 may include inlets (e.g., inlets 1602) configured to facilitate continuous fluid inflow to supply the liquid from the fluid inlet 1602 to be held by the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. In some implementations, tire inlets 1602 provide a continuous liquid inflow at a second temperature (greater than the first temperature) between about 40°C (e.g.. about 39.5 degrees Celsius, about 40.5 degrees Celsius, and / or a range, such as 25-55 degrees Celsius, etc.) and about 70°C (e.g., about 69.5 degrees Celsius, about 70.5 degrees Celsius, and / or a range, such as 60-80 degrees Celsius, etc.). In some implementations, the liquid in the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 is less than or greater than between about 40°C and about 70°C. In some implementations, the liquid provided to the first hot de- wrinkling pool 1512 and the second hot de-wrinkling pool 1512 by the inlets 1602 is received from a fluid source (e.g., fluid tank, fluid reservoir, etc.) that stores, cools, heats, maintains, etc., the fluid at the second temperature. In some implementations, the pool system 208 includes one of the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512. In other implementations, the pool system 208 includes more than two hot de-wrinkling pools 1512.

[0320] In some implementations, the first temperature of the liquid in the main pool 1510 and the second temperature of the liquid in the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 can be the same. The liquid inflow to the main pool 1510 and the liquid inflow to the hot de-wrinkling pools 1512 can be sourced from the same fluid supply (e.g., fluid tank, fluid reservoir) maintained at a uniform temperature. The temperature consistency across the pools can facilitate section transport without exposure to abrupt thermal gradients. In some implementations, a uniform temperature across the pools can prevent thermal expansion differences in sections (e.g., tissue sections 1002) that may otherwise occur when transitioning between pools at different temperatures. The processing circuits can regulate the liquid inflow rates to maintain the same temperature across the pools while adjusting for section movement dynamics. In another implementation, the same temperature can be used across all pools when the pool system 208 is configured to process sections that may not require and / or benefit from thermal differential treatments (e.g., temperature-based relaxation of sections in de-wrinkling pools). The inlets 1526 and 1602 can provide continuous liquid inflow at the same temperature, where the processing circuits can adjust the flow rate and liquid volume distribution to manage section transport characteristics.

[0321] Referring still to FIG. 15G, the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 at least one (e.g., each) include an overflow gate 1518 configured, structured and / or arranged to maintain a desired level of liquid in the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. In some implementations, the position (e.g, height) of the overflow gate 1518 is adjustable to achieve the desired level of liquid in the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. The pool system 208 includes an egress (e.g., the egress 1608. an outlet, a liquid exit, an overflow exit. etc.), that canfacilitate continuous overflow of the liquid held by the first hot de-wrinkling pool 1512 and the second hot dewrinkling pool 1512. In some implementations, the egress includes a trough that collects the liquid overflowing from the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 and supplies the fluid to the egress. In some implementations, the fluid overflowing from the main pool 1510 and the fluid overflowing from the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 overflow to the same egress. In other implementations, the fluid overflowing from the main pool 1510 and the fluid overflowing from the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 overflow to different egresses to avoid mixing the fluids at the different temperatures.

[0322] Tire first hot de-wrinkling pool 1512 may be located at a first position relative to the main pool 1510 and the second hot de-wrinkling pool 1512 may be located at a second position relative to the main pool 1510. The second location may be adjacent to the first location. In some implementations, the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 are laterally spaced apart from at least one (e.g., each) other by the egress of the main pool 1510. In other words, the egress of the main pool 1510 may be positioned laterally between the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512.

[0323] Referring still to FIG. 15G, the pool system 208 includes a first barrier gate 1520 positioned between (e.g., longitudinally between) the first hot de-wrinkling pool 1512 and the main pool 1510 and a second barrier gate 1520 positioned between (e.g.. longitudinally between) the second hot de-wrinkling pool 1512 and the main pool 1510. The first barrier gate 1520 and the second barrier gate 1520 may provide dynamic barriers to selectively fluidly couple (e g., selectively join or separate) the main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. The processor 112 can cause the first barrier gate 1520 and / or the second barrier gate 1520 to move downward (e.g., by about 4 mm), as a respective section manipulator 212 navigates to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512 to deliver a section 1002 (as discussed in greater detail below). In the down position (e.g., the first closed position 1702), the barrier gates 1520 are sufficiently below a top surface of the liquid to (i) fluidly couple tire main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512, and (ii) permit the section 1002 to travel along the top surface of the liquid from the main pool 1510 to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512. In the down position, the barrier gates 1520 substantially inhibit mixing of the liquid at the first temperature and the liquid at the second temperature (e.g., such that when the barrier gates 1520 are in the down position, the temperature of the liquid remains substantially at the first temperature and the second temperature, respectively). Further, the processor 112 can cause the first barrier gate 1520 and / or the second barrier gate 1520 to move upward to an up position (e.g., an open state 1704) to (i) fluidly decouple (e.g., separate) the main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512, and (ii) inhibit the section 1002 to travel along the top surface of the liquid from the main pool 1510 to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512.

[0324] Referring still to FIG. 15G, the pool system 208 includes structural elements that facilitate section transport between the main pool 1510 and the first and second hot de-wrinkling pools 1512. The first barrier gate 1520 and the second barrier gate 1520 are positioned to control the movement of sections 1002 between the main pool 1510 and the hot de-wrinkling pools 1512. The movement of barrier gates 1520 can be regulated by processing circuits based on section manipulator 212 positioning and section flow characteristics. The barrier gates 1520 can transition between a lowered position (e.g., submerged) to fluidly couple the pools and a raised position to restrict movement between pools. The processing circuits can execute motion control sequences to synchronize barrier gate positioning with section transport operations. The pool system 208 includes structural components (c.g., rails, support brackets) to maintain the alignment and positioning of the barrier gates 1520 during transitions.

[0325] The pool system 208 includes fluid management components that regulate liquid properties within the main pool 1510 and the hot de-wrinkling pools 1512. The first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 include inlets configured to introduce liquid at controlled temperatures. The processing circuits can execute control sequences to regulate liquid inflow rates at the inlets based on section processing requirements. Tire liquid inflow can be directed through adjustable flow paths to maintain thermal consistency across the pools. The hot de-wrinkling pools 1512 can include liquid circulation mechanisms to facilitate even heat distribution, preventing temperature gradients that could impact section processing. The processing circuits can adjust liquid flow conditions in response to real-time and / or near real-time temperature feedback from sensors positioned within the pools, such as thermocouples (e g., positioned at different depths within the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 to detect vertical temperature variations), infrared temperature sensors (e.g., positioned above the liquid surface at locations adjacent to the overflow gate 1518 to monitor surface temperature variations across the liquid), and / or any resistance temperature detectors (e.g., RTDs, positioned along the fluid inlets 1526 to continuously monitor and regulate incoming liquid temperature before it enters the pools).

[0326] The main pool 1510 and the hot de-wrinkling pools 1512 include fluid egress structures (e.g., egress 1538) to maintain continuous liquid turnover. The processing circuits can regulate liquid outflow7by adjusting overflow7gate positioning to control the rate at which liquid exits the pools. Tire overflow gates 1518 can be positioned to manage liquid levels and prevent turbulence that could disrupt section transport. The egress structures can be configured to direct liquid flow to collection reservoirs or filtration systems before recirculation. The processing circuits can execute automated sequences to maintain liquid clarity and temperature consistency across the pool system 208.

[0327] Tire pool system 208 includes section transport pathways that guide sections 1002 between the main pool 1510 and the hot de-wrinkling pools 1512. The positioning of section manipulator 212 within the main pool 1510 is coordinated with liquid flow conditions to maintain section alignment. The processing circuits can execute motion control algorithms to adjust section manipulator 212 positioning based on section behaviorwithin the liquid. The hot de-wrinkling pools 1512 include structural features (e g., submerged rails, fluid guides) that direct section movement towards pickup locations. The processing circuits can regulate section transfer sequences to improve processing times while maintaining section integrity.

[0328] Referring still to FIG. 15G, the pool system 208 includes a flow regulation assembly 1513 structured to direct liquid movement through the main pool 1510 and hot de-wrinkling pools 1512. Tire flow regulation assembly 1513 can include a network of inlets 1526 and baffles positioned to manage fluid circulation patterns. The inlets 1526 can be arranged along the periphery of the main pool 1510 to introduce liquid flow at controlled velocities, ensuring uniform movement of sections 1002 along the liquid surface. The baffles can be oriented to redirect incoming liquid, mitigating turbulence that may affect section stability. The processing circuits can regulate the inflow rate of liquid through the inlets 1526 based on sensor feedback, maintaining predefined fluid dynamics within the main pool 1510.

[0329] The pool system 208 further includes a liquid recirculation subsystem 1515 structured to facilitate continuous removal and replenishment of liquid within the main pool 1510 and hot de-wrinkling pools 1512. The liquid recirculation subsystem 1515 can include an egress 1538 connected to a fluid return pathway that directs overflow liquid toward a reservoir or filtration system. The egress 1538 can be positioned to collect liquid displaced by the inflow from inlets 1526. maintaining a stable liquid level. The processing circuits can control the operation of a fluid pump to regulate liquid extraction through the egress 1538 and facilitate controlled recirculation. Additionally, the fluid return pathway can incorporate heating or cooling elements to adjust the temperature of recirculated liquid before reintroduction through the inlets 1526.

[0330] Tire processing circuits can coordinate liquid flow regulation based on section transport operations within the pool system 208. Tire liquid flow control mechanisms can be synchronized with section manipulator gantries 232 and pickup gantries 230 to facilitate proper section movement toward the designated pickup regions. Hie flow regulation assembly 1 13 can modify liquid velocity profiles based on section tracking data received from imaging systems (e.g., camera 1508). The processing circuits can dynamically adjust inlet flow rates or baffle positions to prevent section stagnation or unwanted section drift within the main pool 1510.

[0331] The pool system 208 can further include a dynamic fluid height adjustment mechanism coupled to the overflow gate 1514 and barrier gates 1520. The overflow gate 1514 can be positioned to regulate the liquid level in the main pool 1 10, while the barrier gates 1520 can selectively couple or decouple the main pool 1510 with the hot de-wrinkling pools 1512. The processing circuits can adjust the height of the overflow gate 1514 based on section flow conditions, facilitating proper submersion of blade 222 within the liquid. Additionally, the processing circuits can control the movement of barrier gates 1520 to transition between an open and closed state, regulating section transport between pools.

[0332] Tire structural arrangement of the pool system 208 can be configured to maintain section alignment during transport. The main pool 1510 and hot de-wrinkling pools 1512 can be spatially positioned to support the continuous movement of sections 1002 from the cutting region to the pickup area. The processing circuitscan execute motion control sequences that coordinate section positioning with liquid flow characteristics. The imaging systems can provide real-time feedback on section orientation, allowing corrective actions if misalignment is detected. The pool system 208 can further incorporate anti-static coatings or hydrophobic surface treatments to improve section transfer efficiency.

[0333] Referring still to FIG. 15G, the liquid recirculation subsystem 1515 is structured to remove liquid from the main pool 1510 and hot de-wrinkling pools 1512 while directing the liquid through a controlled return pathway. The liquid recirculation subsystem 1515 can include a pump (e.g., fluid pump 1542) configured to generate flow through an egress (e.g., egress 1538) positioned at a defined height relative to the liquid surface. Tire egress 1538 can include a collection channel that directs liquid toward a return conduit. Tire return conduit can be connected to a filtration system (e g., filter assembly 1544) that removes particulates or contaminants from the liquid before reintroduction to the pool system 208. In some implementations, the filtration system can include a mechanical filter (e.g., mesh filter, sediment trap) to separate solid debris from the liquid. In another implementation, the filtration system can include a chemical treatment module (e.g., activated carbon filter, ion exchange resin) to maintain liquid composition.

[0334] Tire liquid recirculation subsystem 1515 can include temperature regulation components configured to modify the temperature of the recirculated liquid before it is reintroduced into the main pool 1510 and hot dewrinkling pools 1512. Tire temperature regulation components can include a heat exchanger (e.g.. heating coil 1546) coupled to the return conduit, where the heating coil 1546 is configured to transfer thermal energy to the liquid passing through the conduit. In some implementations, the heating coil 1546 can be electrically powered and controlled by processing circuits based on real-time temperature measurements from liquid sensors (e.g., thermocouple 1548). In another implementation, the temperature regulation components can include a cooling module (e.g., refrigeration coil 1550) configured to lower the temperature of the recirculated liquid before delivery to the inlets 1526. The cooling module can operate in a closed-loop configuration, where the liquid temperature is continuously monitored, and adjustments are made to maintain predefined temperature ranges.

[0335] The processing circuits can regulate the liquid flow rate through the recirculation subsystem 1515 by adjusting pump speed, valve positions, or egress flow rates. The pump (e.g., fluid pump 1542) can be driven by a motor (e.g., servo motor 1552) controlled by the processing circuits, where the motor speed is adjusted based on liquid level measurements from sensors positioned in the main pool 1510 and hot de-wrinkling pools 1512. The egress 1538 can include a variable -height overflow gate that modifies liquid outflow based on real-time conditions detected by the processing circuits. The overflow gate can be actuated by a motorized actuator (e.g., linear actuator 1554) that moves the gate between a lowered and raised position. The linear actuator 1554 can receive control signals from the processing circuits to adjust the liquid height in response to flow variations.

[0336] Tire return pathway of the liquid recirculation subsystem 1515 can include multiple distribution branches connected to the inlets 1526 of the main pool 1510 and inlets 1602 of the hot de-wrinkling pools 1512. The distribution branches can be structured to direct recirculated liquid to predefined locations based onoperational requirements. The processing circuits can control the distribution of liquid between the pools by actuating flow control valves (e.g., solenoid valves 1556) positioned along at least one (e.g., each) branch. The solenoid valves 1556 can be configured to open or close in response to signals from the processing circuits, adjusting the proportion of liquid directed to at least one (e.g., each) pool. In some implementations, the return pathway can include a bypass conduit that diverts excess liquid back to a fluid reservoir if the liquid level in the pools reaches a predefined threshold.

[0337] The liquid recirculation subsystem 1515 can incorporate sensors positioned along the fluid return pathway to monitor liquid flow characteristics. The sensors can include flow meters (e.g., ultrasonic flow meter 1558) that measure the volumetric flow rate of recirculated liquid. Tire flow meter 1558 can be positioned at the outlet of the filtration system to track the amount of liquid being processed before reintroduction. In some implementations, pressure sensors (e.g.. piezoelectric pressure sensor 1560) can be integrated into the return conduit to detect variations in liquid pressure. The processing circuits can use data from the pressure sensors to detect blockages or flow resistance in the recirculation system.

[0338] Tire liquid recirculation subsystem 1515 can be structured to operate in coordination with section transport operations. The processing circuits can synchronize the activation of fluid pump 1542 with section movement within the pool system 208. The motorized components (e.g., servo motor 1552, linear actuator 1554) can be controlled to maintain liquid flow rates that correspond to section flow requirements. The processing circuits can adjust flow control parameters based on section imaging data received from optical sensors or cameras monitoring the pool system 208. In some implementations, the liquid recirculation subsystem 1515 can include a feedback loop where adjustments to liquid inflow, outflow, and temperature regulation are performed dynamically in response to real-time operational conditions.

[0339] Referring now to FIGS. 15H-15K, a process for receiving sections 1002 by the section manipulators 212. transporting the sections 1002 through the main pool 1510. and picking the sections 1002 up by the slides at the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512 is shown. As shown in FIG. 15H, the first section manipulator gantry 232 positions the first section manipulator 212 to receive a section 1002 at the main pool 1510. The first section manipulator gantry 232 translates along the first rail 1532 and the second rail 1534 to transport the section 1002 received on the first section manipulator 212 along the main pool 1510 (e.g., following a U-shaped path defined by the main pool 1510) to the first hot de-wrinkling pool 1512. When the first section manipulator 212 arrives at the first hot de-wrinkling pool 1512, the processor 112 may operate the first barrier gate 1520 to move to the down position to fluidly couple the main pool 1510 with the first hot de-wrinkling pool 1512. The section 1002 received on the first section manipulator 212 may extend at least partially in the main pool 1510 and the first hot de-wrinkling pool 1512 as shown in the right side of FIG. 15H. Referring to FIG. 151, the first pickup gantry 230 may then move or otherwise position the slide to pickup the section 1002 and the first section manipulator gantry 232 may move the first section manipulator 212 away from the first hot de-wrinkling pool 1512 such that tire section 1002 is removed from the first sectionmanipulator 212. With the section 1002 on the slide and removed from the first section manipulator 212, the processor 112 may operate the first barrier gate 1520 to move to the up position to fluidly decouple the main pool 1510 from the first hot de -wrinkling pool 1512.

[0340] Referring still to FIG. 15H, the section manipulator 212 can engage the section 1002 while positioned within the main pool 1510. The processor 112 can coordinate movement of the section manipulator gantries 232 along the first rail 1532 and the second rail 1534 to align the section manipulator 212 with the section 1002. The barrier gate 1520 can be actuated to transition between an open position and a closed position. When in the open position, the barrier gate 1520 can fluidly couple the main pool 1510 with the first hot de-wrinkling pool 1512. Tire fluid in tire main pool 1510 can have a first temperature (c.g., about 4°C), while the fluid in the first hot de-wrinkling pool 1512 can have a second temperature (e.g.. about 40°C to 70°C). The transition of the section manipulator 212 from the main pool 1510 into the first hot de-wrinkling pool 1512 can be coordinated such that the section 1002 remains suspended at the liquid interface. The pickup gantry 230 can be synchronized with the motion of the section manipulator 212 such that when the section 1002 reaches the first hot de- wrinkling pool 1512, a slide positioned by the pickup gantry 230 can collect the section 1002 for further processing.

[0341] Referring to FIG. 151, after the section 1002 is positioned at the first hot de-wrinkling pool 1512, the pickup gantry 230 can lower the slide into position. The section manipulator 212 can release the section 1002 such that it transitions from floating in the liquid to being positioned on the slide. The processor 112 can then actuate the barrier gate 1520 to transition back to the closed position, fluidly decoupling the first hot de- wrinkling pool 1512 from the main pool 1510. The section manipulator 212 can be returned to its starting position in the main pool 1510 to receive another section 1002. Throughout this process, the section manipulator 212 remains partially submerged in the liquid to minimize surface adhesion between the section manipulator 212 and the section 1002. Tire liquid interface between the main pool 1510 and the first hot de-wrinkling pool 1512 can be regulated such that thermal gradients do not disrupt section integrity.

[0342] Referring to FIGS. 151 and 15K, the same process described above with respect to the right side of the section pathway system 104 may be implemented in the left side of the section pathway system 104 (e.g., at the same time and at a 50% phase delay). Specifically, as shown in FIG. 15J, the second section manipulator gantry 232 positions the second section manipulator 212 to receive a section 1002 at the main pool 1510. The second section manipulator gantry 232 translates along the first rail 1532 and the second rail 1534 to transport the section 1002 received on the second section manipulator 212 along the main pool 1510 (e.g., following a U- shaped path defined by the main pool 1510) to the second hot de-wrinkling pool 1512. When the second section manipulator 212 arrives at the second hot de-wrinkling pool 1512, the processor 112 may operate the second barrier gate 1520 to move to the down position to fluidly couple the main pool 1510 with the second hot de- wrinkling pool 1512. The section 1002 received on the second section manipulator 212 may extend at least partially in the main pool 1510 and the second hot de-wrinkling pool 1512 as shown in the right side of FIG.15J. Referring to FIG. 15K, the second pickup gantry 230 may then move or otherwise position the slide to pick-up the section 1002 and the second section manipulator gantry 232 may move the second section manipulator 212 away from the second hot de-wrinkling pool 1512 such that the section 1002 is removed from the second section manipulator 212. With the section 1002 on the slide and removed from the second section manipulator 212, the processor 112 may operate the second barrier gate 1520 to move to the up position to fluidly decouple the main pool 1510 from the second hot de-wrinkling pool 1512.

[0343] Referring to FIG. 15 J, a second section manipulator gantry 232, positioned on the opposite side of the main pool 1510, can be operated to receive and transport an additional section 1002. The second section manipulator gantry 232 follows a U-shaped trajectory along the first rail 1532 and the second rail 1534, similar to the first section manipulator gantry 232. Tire second barrier gate 1520, associated with the second hot de- wrinkling pool 1512, can be actuated to fluidly couple the main pool 1510 with the second hot de-wrinkling pool 1512. The section 1002 transported by the second section manipulator 212 can be positioned at the liquid interface within the second hot de-wrinkling pool 1512. Tire pickup gantry 230 can be moved into place to collect the section 1002 from the liquid interface.

[0344] Referring to FIG. 15K, the processor 112 can execute commands to remove the section 1002 from the second section manipulator 212 while maintaining precise timing coordination with the pickup gantry 230. Hie section 1002 can be transferred from the liquid interface onto a slide positioned by the pickup gantry 230. Once the section 1002 is successfully picked up, the second barrier gate 1520 can be actuated back to the closed position to fluidly decouple the second hot de-wrinkling pool 1512 from the main pool 1510. The second section manipulator 212 can be returned to its starting position in the main pool 1510 to receive another section 1002, maintaining a continuous and / or regular cycle of section transport and pickup. Tire section manipulator gantries 232 can operate in a staggered manner (e.g., at a 50% phase delay) such that while one section manipulator 212 is delivering a section 1002. the other section manipulator 212 is receiving a new section 1002.

[0345] Throughout the process described above with reference to FIGS. 15H-15K, the section manipulators 212 may remain in the main pool 1510 (e.g., in the liquid at the first temperature) to help reduce or alleviate thermal fusion between the section manipulators 212 and the sections 1002 from the tissue block 203. By way of example, no or substantially no residue from the sections 1002 may remain on the section manipulators 212 when the section manipulators 212 stay in the main pool 1510. If the section manipulators 212 with the sections 1002 received thereon were to enter the hot de-wrinkling pools 1512. the sections 1002 may thermally fuse with the section manipulators 212 such that residue from the sections 1002 remains on the section manipulators 212 when the sections 1002 are picked up on the slides and removed from the section manipulators 212.

[0346] Additionally, throughout this process, the temperature differentials between the main pool 1510 and the hot de-wrinkling pools 1512 can be regulated by controlling the fluid flow at the inlets 1526 and fluid exits. The processor 112 can adjust the positioning of the barrier gates 1520 in coordination with the movement of the section manipulators 212 and the pickup gantries 230. The sequence of section reception, transport, and / orpickup can be repeated continuously, to ensure that at least one (e.g., each) section 1002 can be transferred without excessive exposure to thermal fluctuations that may affect section integrity. The first and second section manipulator gantries 232 can be programmed to adjust their movement based on variations in tissue block properties or differences in sectioning speeds.

[0347] Referring now to FIGS. 16A and 16B, a cross-sectional view and a perspective view of the hot dewrinkling pool 1512 are depicted, respectively, according to an example implementation of the current disclosure. The hot de-wrinkling pool 1512 can include an inlet 1602 to provide hot water, or hot liquid, flow into the hot de-wrinkling pool 1512. In some implementations, the inlet 1602 can be arranged or positioned at or close to the bottom of the hot de-wrinkling pool 1512. The hot or warm water (or liquid) facilitates de- wrinkling and prevents or mitigates new wrinkling of the section 1002. Hie inlet 1602 can provide a continuous and constant flow of hot liquid or water to maintain the liquid or water temperature in the hot de-wrinkling pool 1512 at the desired temperature value or desired temperature range.

[0348] In some implementations, the inlet 1602 can be coupled to and fed hot water or hot liquid by a separate heated chamber, where water or liquid is continuously heated and circulated into the hot de-wrinkling pool 1512 via the inlet 1602 at the bottom of the hot de-wrinkling pool 1512. Tire continuous and constant inflow of hot water or hot liquid into the hot de-wrinkling pool 1512 can lead to a constant overflow from the hot de-wrinkling pool 1512. The constant overflow allows the temperature of the water or liquid within the hot de-wrinkling pool 1512, and specifically, at the surface of the hot de-wrinkling pool 1512 to be nearly constant, e.g., varying by no more than 0.5 °C.

[0349] Tire hot de-wrinkling pool 1512 can include a structure 1604 arranged or positioned to face the inlet 1602 from tire inside of the hot de-wrinkling pool 1512. The structure 1604 can be referred to herein as deflector 1604 or flow guide 1604. The inlet 1602 together with the structure 1604 can be configured to produce a streamline flow 1606. The structure 1604 can guide the hot water inflow or hot liquid inflow from the inlet 1602 upward or vertically, forming the streamline flow 1606. In some implementations, the streamline flow 1606 can be formed along a wall of the hot de-wrinkling pool 1512, hosting the inlet 1602. The streamline flow 1606 can result in a liquid or water flow at tire surface of the liquid or water in the hot de-wrinkling pool 1512. Tire flow at the surface can move towards an overflow outlet 1608 of the hot de-wrinkling pool 1512.

[0350] The hot water inflow via the inlet 1602 and, in particular, the flow produced at the surface allows discarding sections determined to be damaged. In some examples, a section 1002 may get damaged prior to pick up by a slide or during transport via the ring pool 1501. A section 1002 may manifest some form of overheating defects in the hot de-wrinkling pool 1 12. The inflow via the inlet 1602 leads to an overflow and a flow pattern at the surface that drive damaged sections or section fragments detached from damaged sections towards and into the overflow outlet 1608 to be discarded. As such, an additional section assessment and selection process can be performed at the hot de-wrinkling pool 1512, where a first section assessment and selection process is performed at the main pool 1510. Adding another layer of section assessment and selectionat the hot de-wrinkling pool 1512 improves the reliability of the microtomy process and ensures that only goodquality sections are picked up and maintained on slides for examination. In some implementations, the hot dewrinkling pool 1512 can be configured and / or designed, such that the overflow produces or generates a consistent flow pattern at the surface and avoids vortices / dead spots. Avoiding vortices / dead spots ensures that any floaters in the pool 1512 will be discarded. The shape of the pool 1512. the structure 1604, the inlet 1602, and / or the flow rate at the inlet 1602 can be configured to achieve a consistent flow pattern at the surface with no vortices / dead spots.

[0351] In some implementations, the processor 112 and / or the section pathway system 104 can monitor and / or control the liquid or water temperature at the hot de-wrinkling pool 1512 as well as the time during which a section 1002 is exposed to the hot liquid or water at the hot de-wrinkling pool 1512. Given that the sections 1002 are manipulated robotically, the processor 112 can automatically control the temperature at the hot de- wrinkling pool 1512 and / or the time a section 1002 spends in the hot de-wrinkling pool 1512. In some implementations, the temperature at the hot de-wrinkling pool 1512 and / or the time a section 1002 spends in the hot de-wrinkling pool 1512 can be set and / or changed by the operator of the microtomy system 100, e.g., as input via the I / O device 512.

[0352] The bottom surface of the hot de-wrinkling pool 1512 can include a transparent portion 1610 or a transparent window 1610 and a camera 1612 positioned and / or arranged to capture images of sections floating on the top surface via the transparent portion 1610. The camera 1612 can be positioned beneath the transparent portion 1610 and facing towards the transparent portion 1610. Image of floating sections 1002 captured by the camera 1612 can be used by the processor 112 to assess or evaluate the quality of the sections 1002. Given the relatively hot temperature of the liquid or water in the hot de-wrinkling pool 1512, by using a bottom camera, such as camera 1612, helps avoid blurry images due to steam from the pool 1512. In some implementations, the camera 1612 or other camera can be placed or positioned to take images of the pool 1512 from the top or from above the pool 1512.

[0353] The hot de-wrinkling pool 1512 can include the barrier gates 1520 on both sides of the hot de-wrinkling pool 1512. The barrier gates 1520 can separate the hot de-wrinkling pool 1512 from the rest of the ring pool 1501, and help reduce the mixing of the cold and hot water bodies. The barrier gates 1520 can help avoid floaters. For example, the barrier gates 1520 can prevent floaters from moving from the ring pool 1501 to the hot de-wrinkling pool 1512.

[0354] Referring now to FIGS. 17A-17B, various aspects of the barrier gates 1520 and / or barrier gates 1516 are depicted, according to an example implementation of the current disclosure. In particular, FIG. 17A depicts a closed state 1702 and an open state 1704 of the barrier gate 1520 and / or 1516. FIG. 17B depicts a cross- sectional view of the barrier gate 1520 and / or 1516. The barrier gates 1516 can be located at opposite sides of the main pool 1510, whereas the barrier gates 1520 can be located at opposite sides of the hot de-wrinkling pool 1512.

[0355] Each barrier gate 1516 or 1520 can be configured, structured and / or arranged to move upward to close and move downward to open. At least one (e.g., each) barrier gate 1516 or 1520, when in closed state 1702, can extend upward up to or beyond the liquid level or water level creating a physical wall between the liquid media or water bodies on both sides of the barrier gate, or in the adjacent pool regions. At least one (e.g., each) barrier gate 1516 or 1520 can be configured and / or designed to minimize the exchange of liquid or water between the bodies that are separated by the barrier gate 1516 or 1520. and reduce or mitigate water or liquid turbulence when switching between the close and open states 1702 and 1704. For example, the barrier gates 1516 and / or 1520 can include a hollow structure 1706, separating the adjacent water bodies (or adjacent liquid bodies). The hollow structure 1706 can include two parallel walls 1710 and 1712 with a gap in between. The walls 1710 and 1712 can be relatively thin, e.g., compared to a width of hollow structure 1706.

[0356] In the open state 1704. the hollow structure 1706 can move into a slot within apool wall structure 1714. The pool wall structure 1714 can be a wall of the main pool 1510 or wall of the hot de-wrinkling pool 1512. The slot within the pool wall structure 1714 can include liquid or water from the adjacent water bodies. As the hollow structure 1706 moves into the slot within the pool wall structure 1714, a relatively small and local turbulence is triggered by tire thin walls 1710 and 1712 pushing against the water in the slot. Tire turbulence can be mainly within the slot hosting the hollow structure 1706 and can rapidly settle without significant propagation in adjacent pool bodies.

[0357] Referring particularly to FIGS. 17C and 17D, the pool system 208 includes the first barrier gate 1520 positioned between the first hot de-wrinkling pool 1512 and the main pool 1510 and the second barrier gate 1520 positioned between the second hot de-wrinkling pool 1512 and the main pool 1510. Tire first barrier gate 1520 and the second barrier gate 1520 may provide dynamic barriers to selectively fluidly couple (e.g., selectively join or separate) the main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. The processor 112 can cause the first barrier gate 1520 and / or the second barrier gate 1520 to move downward (e.g., by about 4 mm), as a respective section manipulator 212 navigates to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512 to deliver a section 1002 (as discussed in greater detail below). In the first closed position 1702, the barrier gates 1520 are sufficiently below atop surface of the liquid to (i) fluidly couple the main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512, and (ii) pennit the section 1002 to travel along the top surface of the liquid from the main pool 1510 to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512. In the first closed position 1702, the barrier gates 1520 substantially inhibit mixing of the liquid at the first temperature and the liquid at the second temperature (e.g., such that when the barrier gates 1520 are in the down position, the temperature of the liquid remains substantially at the first temperature and the second temperature, respectively). Further, the processor 112 can cause the first barrier gate 1520 and / or the second barrier gate 1520 to move upward to the open state 1704 to (i) fluidly decouple (e.g., separate) the main pool 1510 with the first hot de-wrinkling pool 1512 and the second hot de-wrinkling pool 1512. and (ii) inhibit the section 1002 totravel along the top surface of the liquid from the main pool 1510 to the first hot de-wrinkling pool 1512 or the second hot de-wrinkling pool 1512.

[0358] Referring to FIG. 17C, the pool system 208 includes the first hot de-wrinkling pool 1700 and the second hot de-wrinkling pool 1701, positioned adjacent to the main pool 1510. Tire first barrier gate 1520 and the second barrier gate 1520 are located between the main pool 1510 and the de-wrinkling pools 1700 and 1701, and are structured to transition between a first closed position (e.g.. 1702) and an open state (e.g., 1704) to regulate the movement of sections 1002. The barrier gates 1520 may be positioned at points of liquid transition, selectively coupling or decoupling the main pool 1510 from the first hot de-wrinkling pool 1700 and the second hot dc-wrinkling pool 1701. The actuation of the barrier gates 1520 can be controlled by processing circuits executing control sequences to move the gates into position at predetermined times based on section transport operations. Actuation mechanisms (e.g.. linear actuators, pneumatic pistons, or motor-driven linkages) may be located along the pool system 208 structure near the mounting points of the barrier gates 1520.

[0359] The first hot de-wrinkling pool 1700 and the second hot de-wrinkling pool 1701 can be configured to maintain liquid at a controlled temperature range (e.g., between 40°C and 70°C). The pools may include dedicated heating elements (e.g., resistive heaters, heated fluid exchangers) and temperature sensors positioned within the liquid at different depths to provide real-time and / or near real-time thennal feedback. Inlets may be positioned along the perimeter of pools 1700 and 1701 to introduce heated liquid at a controlled rate, preventing temperature gradients that could affect section de-wrinkling. The placement of temperature sensors can include mounting at sidewalls of the pools, embedded within the base of the pools, and / or positioned along fluid entry points to monitor the incoming liquid properties. In some implementations, the processor 112 can execute control sequences to operate the first barrier gate 1520 and the second barrier gate 1520 in synchronization with section transport. When a section 1002 is received from the main pool 1510, the processor 112 can cause the corresponding barrier gate 1520 to lower (e.g.. by approximately 4 mm), allowing the section 1002 to transition into either the first hot de-wrinkling pool 1700 orthe second hot de-wrinkling pool 1701. The section 1002 may then be floated across the surface of the liquid towards a pickup location. When the section 1002 reaches the pickup location, tire processor 112 can execute a command to raise the barrier gate 1520 back to its closed position, fluidly isolating the pools. The raised position ofthe barrier gates 1520 prevents and / or reduces mixing of liquid at different temperatures between the pools, maintaining separation and / or reduce any mixing of liquid used for section de-wrinkling and the cooler liquid used in the main pool 1510.

[0360] Referring to FIG. 17D, sectional views illustrate the movement of the barrier gates 1520 in response to processor-controlled commands. Tire first closed position 1702 shows the barrier gate 1520 in its raised position, fluidly isolating the main pool 1510 from the de-wrinkling pools 1700 and 1701. The open state 1704 depicts the barrier gate 1520 in a lowered position, allowing sections 1002 to move along the liquid surface between the pools. The cross-sectional views highlight the structure of the barrier gates 1520. which may include angled surfaces or tapered edges to minimize resistance to liquid flow when transitioning betweenstates. The movement of the barrier gates 1520 may be executed through controlled displacement mechanisms (e.g., with sensor feedback confirming positional accuracy before subsequent section transport operations commence).

[0361] Throughout operation, the barrier gates 1520 may cycle between open and closed states in coordination with section manipulator 212 movements. The processor 112 can determine the appropriate timing for gate transitions based on real-time tracking of section movement and pickup timing at pools 1700 and 1701. Sensor feedback from position encoders, optical sensors, and / or contact switches can be used to verify that the barrier gates 1520 are in the correct position before proceeding with section transport. If positional discrepancies are detected, the processor 112 can execute corrective adjustments, such as recalibrating the actuation mechanism or pausing section transport operations until the gates reach the intended position. In some implementations, liquid level sensors can be positioned at different locations in pools 1700 and 1701 to monitor fluid displacement caused by gate transitions. If liquid levels deviate beyond a predetermined threshold, the processor 112 can adjust inflow rates through the inlets to compensate for variations in fluid distribution.

[0362] Tire egress 1538 and the overflow gate 1518, as shown in FIG. 15G, can be structured to direct liquid flow to the same egress sy stem, facilitating continuous and / or regular liquid removal from both the main pool 1510 and the hot de -wrinkling pools 1512. The liquid exiting through the overflow gate 1518 can merge with the flow from the egress 1538. Tire pool system 208 can include one, two, three, or any number of hot dewrinkling pools based on system requirements and section processing needs. The number of hot de-wrinkling pools can be adjusted according to operational configurations, and the system should not be limited to the specific examples depicted, as additional pools can be integrated to accommodate higher throughput or specialized processing requirements.

[0363] FIG. 18 illustrates two perspective views of the slide transport system 206 together with the hot dewrinkling pool 1512, according to an example implementation of the current disclosure. The slide transport system 206 can include slide carrier 1802 and a robotic system 1804, configured to carry, move and / or operate the slide carrier 1802. The slide carrier 1802 can be referred to herein as slide gripper 1802 or slide holder 1802. The robotic system 1804 can include or can be a multi-axis gantry 1804. The multi-axis gantry 1804 can be configured, structured, and / or arranged to move the slide carrier 1802 along a z-axis 1806 and an x-axis 1808. The z-axis 1806 can be referred to herein as the vertical axis 1806, and the x-axis 1808 can be referred to herein as the horizontal axis 1808. The multi -axis gantry 1804 can include a rotational drive to rotate the slide carrier 1802 around a rotational axis 1810. The multi -axis gantry 1804 can include one or more motors, such as motors 1812 and 1814, to drive vertical motion of the slide carrier 1802 along the z-axis 1806, horizontal motion of the slide carrier 1802 along the x-axis 1808, and rotation motion of the slide carrier 1802 around the rotational axis 1810. Tire slide carrier 1802 can carry or hold a slide and the slide transport system 206 or the multi-axis gantry 1804 can operate or move the slide carrier 1802 to pick up a section 1002 on the slide, as described in further detail below.

[0364] Referring now to FIG. 19A, multiple images (i)-(v) of a video sequence depicting a section pickup process are shown, according to an example implementation of the current disclosure. At image (i), a section manipulator 212 or a respective member 904 brings or drags a section 1002 into the hot de-wrinkling pool 1512. As discussed above, the hot de-wrinkling pool 1512 can include a liquid medium of liquid or hot water having a liquid temperature between 40°C and 50°C. The section 1002 can be attached to the member 904 and floating on the liquid surface or water surface in the hot de-wrinkling pool 1512.

[0365] Once the section 1002 is in the hot de-wrinkling pool 1512, the processor 1 12 can cause the camera 1612 to capture one or more images of the section 1002 from underneath the hot de-wrinkling pool 1512. The processor 112 can process the captured imagc(s) to assess or evaluate the quality of tire section 1002. For example, the processor 112 can process the image(s) to determine if there are defects in the section 1002. If no defects are detected, the processor 112 can cause the slide transport system 206 to dip the slide held by the slide carrier 1802 in the hot de-wrinkling pool 1512. For example, the processor 112 can actuate one or more motors of the multi -axis gantry 1804 to operate the slide carrier 1802 and cause the slide to enter the hot water in the hot de-wrinkling pool 1512.

[0366] Referring now to FIGS. 19B-19D, the section pathway system 104 includes a slide manipulator, shown as robotic ann 1900. rotatably coupled with a robotic subsystem (e.g., a robotic ami, a robotic gantry, etc.). Byway of example, the slide transport system 206 may include a robotic subsystem having a motor configured to configured to generate rotational mechanical energy to rotate the 1900. The motor may operate (e.g., rotate the robotic arm 1900 to predefined, indexed, specified positions) in coordination with the robotic subsystem to position and orient the robotic arm 1900 to facilitate (i) picking up slides 2002 with sections 1002 held by slide seats 234 and (ii) replacing the picked-up slides 2002 with empty slides 2002 (e.g., slides 2002 without any sections 1002). As shown in FIGS. 19B-19D, the robotic ann 1900 includes three slide carriers 1802 radially- spaced along a bottom surface thereof. The slide carriers 1802 may extend at an angle away from the bottom surface of the 1900 and away from an axis of rotation of the robotic arm 1900. In some implementations, the slide carriers 1802 are otherwise positioned and / or oriented relative to the robotic arm 1900.

[0367] Tire slide carriers 1802 may each include a pair of arms (e.g., implements) configured to selectively engage with a slide 2002. By way of example, the anns of a first slide carrier 1802 may engage with a first slide 2002, the arms of a second slide carrier 1802 may engage with a second slide 2002, and the arms of a third slide carrier 1802 may engage with athird slide 2002. Tire arms may extend along opposing lateral sides ofthe slides 2002 to selectively pickup and move the slides 2002. In some implementations, the slide carrier 1802 are otherwise configured to selectively engage with and move the slides 2002.

[0368] Tire slide seats 234 may be configured to support the slides 2002 in the hot de-wrinkling pool 1512. In some implementations, the slide seats 234 are movable (e.g., actuatable) to move or otherwise reposition the slides 2002 supported thereby to pick-up a section 1002 at the hot de-wrinkling pool 1512 from the section manipulator 212. In some implementations, the slide seats 234 are at an orientation (e.g., angle, position, etc.)complementary to an orientation of the slide carrier 1802 to facilitate replacing slides 2002 supported by the slide seats 234. As shown in FIG. 19B, the section pathway system 104 includes a first slide seat 234 configured to position a first slide 2002 at the first hot de-wrinkling pool 1512 and a second slide seat 234 configured to position a second slide 2002 at the second hot de-wrinkling pool 1512. The first slide seat 234 and the second slide seat 234 may operate substantially similarly.

[0369] Referring to FIGS. 19C and 19D, a process for manipulating the robotic arm 1900 to pick-up and replace the slides 2002 supported by the first and second slide seats 234 is shown. The process may include steps 1902-1924. At step 1902, the robotic arm 1900 is shown including a first slide carrier 1802 that is empty (c.g., not holding a slide 2002), a second slide carrier 1802 engaged with (c.g., holding, carrying, etc.) a first, empty slide 2002 (e.g., a slide 2002 not holding a section 1002), a third slide carrier 1802 engaged with a second, empty slide 2002. The first slide seat 234 is shown supporting a third, filled slide 2002 (e.g., a slide 2002 supporting, holding, etc. at least one section 1002) and the second slide seat 234...

Claims

CLAIMSWHAT IS CLAIMED IS:

1. A system, comprising: a tissue block holder holding a tissue block; a blade having a blade edge submerged in liquid and configured to cut a section of the tissue block; a section handling assembly including a member; and an actuator configured to cause the member of the section handling assembly to (i) move through the liquid underneath the section floating on a surface of the liquid and (ii) engage the section along an edge of the member.

2. The system of claim 1, wherein the actuator is configured to cause the member to engage tire section along an edge of the member and within a threshold distance from the edge of the member.

3. The system of claim 2. wherein the actuator is configured to cause the edge of the member engaging the section to rise above a level of the liquid by a defined distance.

4. Tire system of claim 2, wherein a surface of the member facing the section is at angle with the section floating on the surface of the liquid.

5. The system of claim 1, wherein the actuator is configured to cause the member to move the section away from the blade after engaging the section along an edge of the member.

6. The system of claim 1, wherein the liquid is water with temperature about 4 degrees Celsius.

7. The system of claim 1, wherein the member is a wire.

8. Tire system of claim 1, wherein the member is a nichrome wire.

9. The system of claim 1, wherein the member defines one or more holes through the member.

10. The system of claim 1, wherein the member is coated with a hydrophilic material.

11. The system of claim 1, wherein, responsive to the section engaging with the member, the actuator is configured to cause the member to dip underneath a level of the liquid to cause the section to float away in a direction of a current of the liquid.

12. The system of claim 1, wherein the member includes a wedge-shaped structure.

13. The system of claim 1, wherein the member is an elongated structure.

14. The system of claim 1. comprising one or more processors configured to cause the section handling assembly to discard the section responsive to determining that an image of the section satisfies a section discard condition.

15. The system of claim 1, comprising one or more processors configured to cause the section handling assembly to move the section responsive to determining that an image of the section satisfies a section transport condition.

16. The system of claim 1, comprising at least one camera configured to capture an image of the section floating on the surface of the liquid.

17. The system of claim 1 , comprising a pool of liquid including at least one gate configured to be lowered to allow pieces of sections to be removed from the pool of liquid.

18. Tire system of claim 1, comprising a robotic subsystem configured to move a slide relative to the section to cause the section to be placed on the slide.

19. A system comprising: a tissue block holder holding a tissue block: a blade having a blade edge submerged in liquid and configured to cut a section of the tissue block; a section handling assembly including a member; and an actuator configured to cause the member of the section handling assembly to (i) move through the liquid to a defined position underneath a floating position of the section, and (ii) move the section from a first region to a second region subsequent to attachment of the section to the member of the section handling assembly.

20. A method, comprising: cutting a section from a tissue block with a blade having a blade edge, the blade edge submerged in liquid; actuating a member of a section handling assembly to move through the liquid underneath the section floating on a surface of the liquid; and actuating the member to engage the section along an edge of the member.

21. A system, comprising: a blade having a blade edge to cut sections of a tissue block; a first pool of liquid structured to cause a section cut by the blade edge to float within the liquid and extend in a direction away from the blade edge; and a second pool of liquid selectively fluidly coupled with the first pool of liquid at a first location.

22. The system of claim 21, further comprising at least one third pool of liquid selectively fluidly coupled with the first pool of liquid at a second location adjacent to the first location.23 Tire system of claim 22, wherein tire liquid in the first pool is at a first temperature, and the liquid in the second pool is at a second temperature greater than tire first temperature, and wherein the liquid in the at least one third pool is at the second temperature.

24. The system of claim 21, wherein the first pool comprises an inlet with a continuous liquid inflow and an egress arranged opposite to the blade which allows for continuous liquid overflow.

25. Tire system of claim 24, wherein the second pool is laterally spaced from a third pool by the egress.

26. Tire system of claim 21, wherein an inlet is submerged in the first pool and facing the blade, and wherein a continuous liquid inflow causes the liquid to flow upward towards the blade and then away from the blade on a surface of the liquid.

27. The system of claim 21, wherein an inlet is arranged proximate a surface of the liquid in the first pool, and wherein the continuous liquid inflow causes the liquid to flow away from the blade on the surface of the liquid.

28. The system of claim 21, further comprising: a first gate positioned between the first pool and the second pool, the first gate configured to move to selectively fluidly couple the first pool with the second pool; and a second gate positioned between the first pool and a third pool, the second gate configured to move to selectively fluidly couple the first pool with the third pool.

29. The system of claim 28, wherein the first gate is movable between (i) a first position in which the first pool is fluidly coupled with the second pool and (ii) a second position in which the first pool is fluidly decoupled from the second pool, and wherein the second gate is movable between (i) a first position in which the first pool is fluidly coupled with the third pool and (ii) a second position in which the first pool is fluidly decoupled from the third pool.

30. Tire system of claim 21, further comprising at least one manipulator configured to engage with a section of the tissue block at the first pool and transport the section to the second pool or at least one third pool.

31. The system of claim 30. further comprising at least one slide positioned within the second pool or the at least one third pool to receive the section from the at least one manipulator.

32. The system of claim 21, wherein the first pool is structured to cause the liquid to flow in a direction away from the blade edge.

33. The system of claim 21 , wherein the section cut by the blade edge is at least one of floated over the liquid, on a surface of the liquid, carried by the liquid, suspended in the liquid, or above the liquid.

34. A method for transporting a section of a tissue block, the method comprising: supplying a continuous inflow of a liquid to a first pool from a liquid inlet; directing a flow of the liquid in a direction towards a second pool, wherein the second pool is fluidly coupled with the first pool; controlling a manipulator to engage with a section of the tissue block at the first pool and transport the section to the second pool; and positioning a slide to receive the section at the second pool.

Images