Systems and methods for block management and cutting using a robotic microtomy system

Abstract

Various examples, systems, and methods relate to block management and cutting using a robotic microtomy system. A system includes one or more processors coupled to memory. The processors configured to determine a respective slide identifier assigned to the slide. The processors configured to determine, for each tissue block of a plurality of tissue blocks, a respective block identifier. The processors configured to store, in one or more data structures, for each slide, an association between the respective slide identifier of the slide and the respective block identifier. The processors configured to identify a tissue block to be used to cut sections. The processors configured to select a subset of slides associated with the tissue block. The processors configured to cause a robotic subsystem to retrieve a first slide from a slide storage device.

Description

SYSTEMS AND METHODS FOR BLOCK MANAGEMENT AND CUTTING USING 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.202411071014, 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 block management and cutting using a robotic microtomy system. According to at least one aspect of the current disclosure a system can include one or more processors coupled to memory and configured to determine, for each slide of a plurality of slides, a respective slide identifier assigned to the slide. The one or more processors can determine, for each tissue block of a plurality of tissue blocks, a respective block identifier assigned to the tissue block. The one or more processors can store, in one or more data structures, for each slide, an association between the respective slide identifier of the slide and the corresponding block identifier of a respective tissue block of the plurality of tissue blocks. The one or more processors can identify, from the plurality of tissue blocks, a tissue block to be used to cut sections, and select, responsive to identifying the tissue block, from the plurality of slides using the one or more data structures, a subset of slides associated with the tissue block. The one or more processors can cause a robotic subsystem to retrieve a first slide of the subset of slides from a slide storage device storing the first slide to pick up a section cut from the tissue block.

[0004] In some implementations, the slide identifier can be attached to the slide. In some implementations, the slide identifier can be a barcode. In some implementations, the slide identifier can be determined using a barcode sensor.

[0005] In some implementations, each slide can be assigned a position identifier identifying a slot position in a respective slide storage device storing the slide. In some implementations, the plurality of slides can be stored in at least one slide storage device, the at least one slidestorage device including a plurality of slots, each slot configured to store a respective slide at an inclined angle. In some implementations, the one or more data structures can store, for each slide, a second association between the respective slide identifier of the slide and a respective position identifier identifying a slot position at which the slide is stored.

[0006] In some implementations, the tissue block can be a first tissue block and the subset of slides is a first subset of slides and wherein the one or more processors are configured to identify, from the plurality of tissue blocks, a second tissue block to be used to cut sections. The one or more processors can select, responsive to identifying the second tissue block, from the plurality of slides, a second subset of slides associated with the second tissue block. The one or more processors can cause the robotic subsystem to retrieve a second slide of the second subset of slides from a slide storage device storing the second slide to pick up a second section cut from the second tissue block.

[0007] In some implementations, the one or more processors can be configured to store an association between each respective slide of the plurality of slides and a respective tissue block of the plurality of tissue blocks prior to initiating a process of cutting tissue blocks. In some implementations, the one or more processors can be configured to determine, for each slide, a location of a slot of a slide storage device where the slide is stored. In some implementations, the plurality of tissue blocks can be stored in at least one block storage device, each block storage device including a plurality of tissue block slots arranged such that each tissue block is positioned such that the respective block identifier of the tissue block is visually accessible to one or more cameras.

[0008] In some implementations, the system can further include one or more cameras and identify the tissue block to be used to cut sections, the one or more processors are configured to cause the one or more cameras to obtain an image of the block identifier of the tissue block while the tissue block is stored in a tissue block slot of a block storage device.

[0009] In some implementations, the one or more processors can be configured to receive, from a device of a user, a first number of sections to cut from the tissue block and second number of slides on which to place the first number of sections. The one or more processors can determine, from at least one image of the tissue block, a third number of sections capable of being placed on a single slide. The one or more processors can provide, to the device of the user, a notification indicating that a fourth number of slides allotted to the tissue block is insufficient based on the first number, the second number, and the third number.

[0010] According to at least one aspect of the current disclosure a method can include determining, for each slide of a plurality of slides, a respective slide identifier assigned to theslide. The method can include determining, for each tissue block of a plurality of tissue blocks, a respective block identifier assigned to the tissue block. The method can include storing, in one or more data structures, for each slide, an association between the respective slide identifier of the slide and the corresponding block identifier of a respective tissue block of the plurality of tissue blocks. The method can include identifying, from the plurality of tissue blocks, a tissue block to be used to cut sections. The method can include selecting, responsive to identifying the tissue block, from the plurality of slides using the one or more data structures, a subset of slides associated with the tissue block. The method can include causing a robotic subsystem to retrieve a first slide of the subset of slides from a slide storage device storing the first slide to pick up a section cut from the tissue block.

[0011] According to at least one aspect of the current disclosure, a system can include a block storage device, a first robotic subsystem, one or more scanners, and one or more processors. The block storage device can include a base having a first surface and a second surface, the first surface of the base having one or more engagement features to engage the base with corresponding engagement features of the system. The block storage device can include a plurality of tissue block resting structures, each tissue block resting structure extending at an inclined angle relative to the second surface of the base of the block storage device and defining a slot to receive a respective tissue block. The first robotic subsystem can include a robotic block carrier to carry tissue blocks from the block storage device to a second robotic subsystem. The one or more processors can be configured to cause the one or more scanners to scan a block identifier on a surface of a first tissue block, the block identifier identifying the first tissue block. The one or more processors can be configured to cause the robotic block carrier to carry the first tissue block of the plurality of tissue blocks stored in the block storage device subsequent to the one or more scanners scanning the block identifier.

[0012] In some implementations, the block storage device can include a handle. In some implementations, the engagement features can include kinematically constraining features. In some implementations, the first surface can have a magnetic surface. In some implementations, the block storage device can include a component configured to trigger a sensor indicating that the block storage device is in a loading position.

[0013] In some implementations, the component can be a probe, and the sensor can be an optical sensor configured to be triggered by the probe. In some implementations, the first surface can include structures configured to facilitate sliding of the block storage device between a first position and a second position.

[0014] In some implementations, the one or more scanners can include one or more cameras, and the block identifier can be positioned on a surface of the first tissue block and wherein the one or more cameras can be configured to capture an image of the surface of the first tissue block including the block identifier. In some implementations, the one or more scanners can include a barcode scanner, and the block identifier can include a barcode.

[0015] According to at least one aspect of the current disclosure, a method can include receiving a block storage device including a base having a first surface and a second surface opposite to the first surface and a plurality of tissue block resting structures extending at an inclined angle relative to the second surface. Receiving the block storage device can include causing one or more engagement features arranged at the first surface of the block storage device to engage corresponding engagement features arranged at a hosting structure receiving the block storage device. The method can include causing, by one or more processors, one or more scanners to scan a block identifier on a surface of a first tissue block, the block identifier identifying a first tissue block. The method can include causing, by the one or more processors, a robotic block carrier of a first robotic subsystem to carry the first tissue block of the plurality of tissue blocks stored in the block storage device to a second robotic subsystem subsequent to the one or more scanners scanning the block identifier.

[0016] According to at least one aspect of the current disclosure, a microtomy system can include a first robotic subsystem including a first tissue block holding component for holding a tissue block. The microtomy system can include a second robotic subsystem including a second tissue block holding component and a third tissue block holding component. The microtomy system can be designed, adapted, or configured wherein at least one of the first robotic subsystem and the second robotic subsystem can be configured to transfer a first tissue block from the first tissue block holding component to the third tissue block holding component of the second robotic subsystem and subsequently transfer a second tissue block from the second tissue block holding component to the first tissue block holding component while the third tissue block holding component can be holding the first tissue block.

[0017] In some implementations, the first robotic subsystem can be configured to retrieve the first tissue block from a block storage device of the microtomy system and the second robotic subsystem can be configured to move the first tissue block for facing or sectioning. In some implementations, the second robotic subsystem can be configured to retrieve the second tissue block from a block storage device of the microtomy system and the first robotic subsystem can be configured to move the second tissue block for facing or sectioning.

[0018] In some implementations, the first robotic subsystem can be configured to transport the first tissue block for facing or sectioning and the second robotic subsystem can be configured to provide the first tissue block to a block holder for facing or sectioning. In some implementations, the second robotic subsystem can be configured to transport the second tissue block for facing or sectioning and the first robotic subsystem can be configured to provide the second tissue block to a block holder for facing or sectioning.

[0019] In some implementations, the second robotic subsystem can include a rotating member. The rotating member can include the first tissue block holding component arranged on a first side of the rotating member. The rotating member can include the second tissue block holding component arranged on a second side of the rotating member.

[0020] In some implementations, the second robotic subsystem can be configured to arrange the rotating member at a first orientation to receive the first tissue block in the third tissue block holding component. In some implementations, the second robotic subsystem can be configured to rotate the rotating member to a second orientation to provide the second tissue block in the second tissue block holding component for transfer to the first tissue block holder.

[0021] In some implementations, the first robotic subsystem can be configured to receive the first sample block at a first position. In some implementations, the first robotic subsystem can be configured to move from the first position to a second position to transfer the first sample to the second robotic subsystem and receive the second. In some implementations, the first robotic subsystem can be configured to carry the second sample block from the second position to the first position.

[0022] In some implementations, the first robotic subsystem can be synchronized with the second robotic subsystem.

[0023] In some implementations, the first robotic subsystem can be configured to retrieve the first tissue block from a chilling station of the microtomy system and the second robotic subsystem can be configured to move the first tissue block for facing or sectioning. In some implementations, the second robotic subsystem can be configured to retrieve the second tissue block from a chilling station of the microtomy system and the first robotic subsystem can be configured to move the second tissue block for facing or sectioning.

[0024] In some implementations, the first robotic subsystem can be configured to retrieve the first tissue block from a block storage device of the microtomy system and the second robotic subsystem can be configured to transport the first tissue block for chilling. In some implementations, the second robotic subsystem can be configured to retrieve the second tissue block from a block storage device of the microtomy system and the first robotic subsystemcan be configured to transport the second tissue block for chilling. In some implementations, the second robotic subsystem can be configured to retrieve the second tissue block from a chilling station of the microtomy system and the first robotic subsystem can be configured to move the second tissue block for facing or sectioning.

[0025] According to at least one aspect of the current disclosure, a method can include holding, by a first robotic subsystem including a first tissue block holding component and a second robotic subsystem including a second tissue block holding component and a third tissue block holding component, a tissue block, transferring, by at least one of the first robotic subsystem and the second robotic subsystem, a first tissue block from the first tissue block holding component to the third tissue block holding component of the second robotic system, and transferring, a second tissue block from the second tissue block holding component to the first tissue block holding component while the third tissue block holding component is holding the first tissue block.

[0026] In some implementations, the method can include retrieving, by the first robotic subsystem, the first tissue block from a block storage device of the microtomy system, and moving, by the second robotic subsystem, the first tissue block for facing or sectioning.

[0027] In some implementations, the method can include retrieving, by the second robotic subsystem, the second tissue block from a block storage device of the microtomy system, and moving, by the first robotic subsystem, the second tissue block for facing or sectioning.

[0028] In some implementations, the method can include transporting, by the first robotic subsystem, the first tissue block for facing or sectioning; and providing, by the second robotic subsystem, the first tissue block to a block holder for facing or sectioning.

[0029] In some implementations, the method can include transporting, by the second robotic subsystem, the second tissue block for facing or sectioning, and providing, by the first robotic subsystem, the second tissue block to a block holder for facing or sectioning.

[0030] In some implementations, the second robotic subsystem can include a rotating member including (i) the first tissue block holding component arranged on a first side of the rotating member and (ii) the second tissue block holding component arranged on a second side of the rotating member. The method can include arranging, by second robotic subsystem, the rotating member at a first orientation to receive the first tissue block in the third tissue block holding component; and rotating, by second robotic subsystem, the rotating member to a second orientation to provide the second tissue block in the second tissue block holding component for transfer to the first tissue block holding component.

[0031] In some implementations, the method can include receiving, by the first robotic subsystem, the first tissue block at a first position, moving from the first position to a second position to transfer the first tissue block to the second robotic subsystem and receive the second tissue block, and carrying, by the first robotic subsystem, the second tissue block from the second position to the first position.

[0032] In some implementations, the method can include synchronizing the first robotic subsystem with the second robotic subsystem.

[0033] The method can include retrieving, by the first robotic subsystem, the first tissue block from a chilling station of the microtomy system, and moving, by the second robotic subsystem, the first tissue block for facing or sectioning.

[0034] The method can include retrieving, by the second robotic subsystem, the second tissue block from a chilling station of the microtomy system, and moving, by the first robotic subsystem, the second tissue block for facing or sectioning.

[0035] In some implementations, the method can include retrieving, by the first robotic subsystem, the first tissue block from a block storage device of the microtomy system, and transporting, by the second robotic subsystem, the first tissue block for chilling.

[0036] In some implementations, the method can include retrieving, by the second robotic subsystem, the second tissue block from a block storage device of the microtomy system, and transporting, by the first robotic subsystem, the second tissue block for chilling.

[0037] In some implementations, the method can include retrieving, by the second robotic subsystem, the second tissue block from a chilling station of the microtomy system; and moving, by the first robotic subsystem, the second tissue block for facing or sectioning.

[0038] In some implementations, the method can include retrieving, by the first robotic subsystem, the first tissue block from a chilling station of the microtomy system, and moving, by the second robotic subsystem, the first tissue block for facing or sectioning.

[0039] In some implementations, the method can include retrieving, by the second robotic subsystem, the second tissue block from a chilling station of the microtomy system, and moving, by the first robotic subsystem, the second tissue block for facing or sectioning.

[0040] According to at least one aspect of the current disclosure, a system can include a blade having a blade edge to cut sections of a tissue block and a pool of liquid substantially leveled with a tip of the blade edge and structured to cause the liquid to flow in a direction substantially perpendicular to and away from the blade edge to cause a section cut by the blade edge to float over the liquid and extend in the direction away from the blade edge. The section cut by the blade edge can be attached to the blade edge and floating over the liquid.

[0041] In some implementations, the pool can include an inlet with continuous liquid inflow and an egress arranged opposite to the blade which allows for continuous overflow. The inlet can be arranged deep in the pool and facing the blade. The continuous liquid inflow can cause the liquid to flow upward towards the blade and then away from the blade on a surface of the liquid.

[0042] In some implementations, the pool can include an adjustable overflow gate to adjust a profile of a meniscus of the liquid. The pool can include a flow rate controller to control a flow rate of the liquid in the pool to adjust a meniscus level of the liquid. In some implementations, the pool can include a flow rate controller to control a flow rate of the liquid in the pool to adjust a profile of a meniscus of the liquid.

[0043] In some implementations, the pool can include one or more barrier gates arranged along a direction transverse to the blade. The one or more barrier gates can be configured to be moved from a first closed position and a second open position to remove sections cut from a tissue block from the pool. In some implementations, the liquid can be water with a temperature between about 2 degrees Celsius and about 8 degrees Celsius.

[0044] In some implementations, the system can further include a gate controller to control a height of an overflow gate to maintain a level of the liquid within the pool. In some implementations, the pool can be a first pool and can include one or more barrier gates arranged along a direction transverse to the blade. The one or more barrier gates can be configured to be moved from a first closed position and a second open position to move sections cut from the tissue block from the first pool to a second pool separated by the one or more barrier gates.

[0045] According to at least one aspect of the current disclosure, a method can include supplying a continuous inflow of liquid from a liquid inlet, directing a flow of liquid in a direction away from a blade edge of a blade and towards an egress which allows for continuous outflow of the liquid from the pool, and maintaining a level of the liquid based on (i) a flow rate of the inflow of liquid from the liquid inlet and (ii) a height of an overflow gate. Supplying the continuous inflow of liquid and directing the flow of the liquid in the direction away from the blade edge can cause a section cut by the blade edge to float over the liquid and extend in the direction away from the blade edge.

[0046] In some implementations, the pool can include an inlet with continuous liquid inflow and an egress arranged opposite to the blade which allows for continuous overflow. The inlet can be arranged deep in the pool and facing the blade. The method can include causing, by the continuous liquid inflow, the liquid to flow upward towards the blade and then away fromthe blade on a surface of the liquid. In some implementations, the liquid can be water with temperature between about 2 degrees Celsius and about 8 degrees Celsius.

[0047] In some implementations, the method can include adjusting, by an adjustable overflow gate of the pool, a profile of a meniscus of the liquid. In some implementations, the method can include adjusting, by an adjustable overflow gate of the pool, a meniscus level of the liquid. In some implementations, the pool can include one or more barrier gates arranged along a direction transverse to the blade, and the method can include causing the one or more barrier gates to be moved from a first closed position and a second open position to remove sections cut from a tissue block from the pool.

[0048] In some implementations, the method can further include controlling, by a gate controller, a height of an overflow gate to maintain a level of the liquid within the pool. In some implementations, the pool can be a first pool and can include one or more barrier gates arranged along a direction transverse to the blade, and the method can include causing the one or more barrier gates to be moved from a first closed position and a second open position to move sections cut from the tissue block from the first pool to a second pool separated by the one or more barrier gates.

[0049] According to at least one aspect of the current disclosure, a system can include a tissue block holder configured to hold a tissue block, a blade, and one or more cameras. The system can include one or more processors coupled with memory. The one or more processors can be configured to cause the tissue block holder to move relative to the blade to cut a slice of the tissue block as part of a facing process. The one or more processors can be configured to cause, subsequent to cutting the slice of the tissue block, the one or more cameras to capture at least one image of at least one of the tissue block or the slice of the tissue block. The one or more processors can be configured to present, for display, the at least one image of the at least one of the tissue block or the slice of the tissue block.

[0050] In some implementations, the slice can be a first slice and the at least one image can be at least one first image. The one or more processors can be configured to cause the tissue block holder to move relative to the blade to cut a second slice of the tissue block as part of the facing process. The one or more processors can be configured to cause, subsequent to cutting the second slice of the tissue block, the one or more cameras to capture at least one second image of at least one of the tissue block or the second slice of the tissue block. The one or more processors are configured to present, for display, the at least one second image. The at least one second image can be presented subsequent to presenting the at least one first image. The at least one image can include a first image of the tissue block and a second imageof the slice. The first image of the tissue block and a second image of the slice can be presented adjacent to one another on a display device.

[0051] The one or more processors can be configured to receive, responsive to presenting the at least one image, an input from an input device indicative of an instruction to control the facing process. The one or more processors can be configured to adjust, responsive to the input from the input device, at least one parameter of the facing process. The one or more processors can be configured to adjust at least one of the following parameters: the speed of the tissue block holder; the termination of the facing process; or the thickness of slices cut by the cutting blade.

[0052] The one or more processors can be configured to monitor a position of the tissue block and trigger the one or more cameras to capture the at least one image responsive to detecting the tissue block at a predefined position. The one or more processors can be configured to include a sensor to detect the position of the tissue block. The one or more processors can be configured to interrupt the facing process responsive to an input received from an input device. The one or more processors can be configured to cause the tissue block to be removed from the tissue block holder responsive to interrupting the facing process responsive to an input received from an input device.

[0053] To cause the one or more cameras to capture at least one image of the slice of the tissue block, the one or more processors can be configured to cause the one or more cameras to capture the at least one image of the slice of the tissue block while the slice is floating on a liquid. To cause the tissue block holder to move relative to the cutting blade to cut a slice of the tissue block, the one or more processors can be configured to cause the tissue block to cut at least one slice per second. To present, for display, the at least one image, the one or more processors can be configured to present, for each slice of the at least one slice, one or more corresponding images.

[0054] At least one aspect of the technical solutions is directed to a method of displaying images during facing. The method can include, holding, by one or more processors coupled with memory, using a tissue block holder, a tissue block. The method can include causing, by the one or more processors, the tissue block holder to move relative to a blade to cut a slice of the tissue block as part of a facing process. The method can include causing, by the one or more processors, subsequent to cutting the slice of the tissue block, one or more cameras to capture at least one image of at least one of the tissue block or the slice of the tissue block. The method can include presenting, by the one or more processors, for display, the at least one image of the at least one of the tissue block or the slice of the tissue block. The slice canbe a first slice, and the at least one image can be at least one first image. The method can include causing, by the one or more processors, the tissue block holder to move relative to the blade to cut a second slice of the tissue block as part of the facing process. The method can include causing, by the one or more processors, subsequent to cutting the second slice of the tissue block, the one or more cameras to capture at least one second image of at least one of the tissue block or the second slice of the tissue block. The method can include presenting, by the one or more processors, for display, the at least one second image.

[0055] The method can include receiving, by the one or more processors, responsive to presenting the at least one image, an input from an input device indicative of an instruction to control the facing process. The method can include adjusting, by the one or more processors, responsive to the input from the input device, at least one parameter of the facing process.

[0056] The method can include adjusting, by the one or more processors, a speed of the tissue block holder. The method can include terminating, by the one or more processors, the facing process. The method can include adjusting, by the one or more processors, a thickness of slices cut by the cutting blade.

[0057] The method can include monitoring, by the one or more processors, a position of the tissue block. The method can include triggering, by the one or more processors, the one or more cameras to capture the at least one image responsive to detecting the tissue block at a predefined position. The method can further include a sensor configured to detect, by the one or more processors, the position of the tissue block.

[0058] The method can include interrupting, by the one or more processors, the facing process responsive to an input received from an input device. The method can include causing, by the one or more processors, the tissue block to be removed from the tissue block holder responsive to interrupting the facing process responsive to an input received from an input device. The method can include capturing, by the one or more processors, at least one image of the slice of the tissue block. The method can include causing, by the one or more processors, the one or more cameras to capture the at least one image of the slice of the tissue block while the slice is floating on a liquid.

[0059] The method can include causing, by the one or more processors, the tissue block to cut at least one slice per second. The method can include presenting, by the one or more processors, for each slice of the at least one slice, one or more corresponding images.

[0060] According to at least one aspect of the current disclosure, a system can include a tissue block holder configured to receive and secure a tissue block, a blade arranged to cut sectionsof the tissue block, and one or more processors coupled with memory. The one or more processors can be configured to cause the tissue block holder to move towards the blade to cut a first section of the tissue block in accordance with an automated cutting process. The one or more processors can be configured to cause a camera to capture a first image of the first section. The one or more processors can be configured to determine, from the first image of the first section, that the first section does not satisfy a size condition. The one or more processors can be configured to cause, responsive to determining that the first section does not satisfy the size condition, the tissue block holder to move towards the blade to cut a second section of the tissue block in accordance with the automated cutting process. The one or more processors can be configured to cause the camera to capture a second image of the second section. The one or more processors can be configured to determine, from the second image of the second section, that a second section satisfies the size condition. The one or more processors can be configured to terminate the automated cutting process responsive to determining that the second section satisfies the size condition.

[0061] In some implementations, the size condition can be based on a length and width of the tissue block. In some implementations, the size condition can be based on a boundary of the tissue block. In some implementations, the system includes a second camera. The one or more processors can be configured to cause the second camera to capture a third image of the tissue block. The one or more processors can be configured to determine, from the third image of the tissue block, a size of the tissue block. The one or more processors can be configured to compare a size of the first section from the first image to the size of the tissue block.

[0062] The one or more processors can be configured to determine a boundary of the first section from the first image and a boundary of the tissue block from the third image and compare the boundary of the first section to the boundary of the third section. The one or more processors can be configured to determine a boundary of the first section from the first image and a boundary of the tissue block from the third image and compare the boundary of the first section to the boundary of the tissue block.

[0063] The one or more processors can be configured to iteratively cause the tissue block holder to move relative to the blade to cut a plurality of sections until a last cut section satisfies the size condition. In some implementations, in accordance with the automated cutting process, the one or more processors can be configured to iteratively cause the tissue block holder to move towards the blade to cut a respective section. In some implementations, the one or more processors can be configured to iteratively cause the camera to capture a respective image of the respective section. In some implementations, the one or moreprocessors can be configured to iteratively determine, from the respective image of the respective section, that the respective section does not satisfy a size condition; until a last cut section satisfies the size condition.

[0064] In some implementations, the automated cutting process can include iterative cutting of a plurality of sections. In some implementations, at each iteration, the one or more processors can be configured to cause the camera to capture an image of the respective section; determine, from the image of the respective section, whether the respective section satisfies the size condition; and terminate the automated cutting process responsive to determining that the respective section satisfies the size condition.

[0065] In some implementations, the size condition can be based on a difference between a size of the respective section and a size of a preceding section. In some implementations, the preceding section can be a section cut in a preceding iteration.

[0066] According to at least one aspect of the current disclosure, a method of automating cutting steps for a robotic microtomy system can include, configuring, by one or more processors coupled with memory, a tissue block holder to receive and secure a tissue block. The method can include configuring, by the one or more processors, a blade to cut sections of the tissue block. The method can include causing, by the one or more processors, the tissue block holder to move towards the blade to cut a first section of the tissue block in accordance with an automated cutting process. The method can include causing, by the one or more processors, a camera to capture a first image of the first section. The method can include determining, by the one or more processors, from the first image of the first section, that the first section does not satisfy a size condition. The method can include causing, by the one or more processors, responsive to determining that the first section does not satisfy the size condition, the tissue block holder to move towards the blade to cut a second section of the tissue block in accordance with the automated cutting process. The method can include causing, by the one or more processors, the camera to capture a second image of the second section. The method can include determining, by the one or more processors, from the second image of the second section, that a second section satisfies the size condition. The method can include terminating, by the one or more processors, the automated cutting process responsive to determining that the second section satisfies the size condition.

[0067] The method can include causing, by the one or more processors, the second camera to capture a third image of the tissue block. The method can include determining, by the one or more processors, from the third image of the tissue block, a size of the tissue block.

[0068] The method can include comparing, by the one or more processors, a size of the first section from the first image to the size of the tissue block. The method can include determining, by the one or more processors, a boundary of the first section from the first image and a boundary of the tissue block from the third image.

[0069] The method can include comparing, by the one or more processors, the boundary of the first section to the boundary of the second section. The method can include determining, by the one or more processors, a boundary of the first section from the first image and a boundary of the tissue block from the third image. The method can include comparing, by the one or more processors, the boundary of the first section to the boundary of the tissue block.

[0070] The method can include iteratively causing, by the one or more processors, the tissue block holder to move relative to the blade to cut a plurality of sections until a last cut section satisfies the size condition. In some implementations, in accordance with the automated cutting process, the method can include iteratively causing, by the one or more processors, the tissue block holder to move towards the blade to cut a respective section; iteratively causing, by the one or more processors, the camera to capture a respective image of the respective section; and iteratively determining, by the one or more processors, from the respective image of the respective section, that the respective section does not satisfy a size condition; until a last cut section satisfies the size condition.

[0071] In some implementations, the automated cutting process can include iterative cutting of a plurality of sections. At each iteration, the method can include causing, by the one or more processors, the camera to capture an image of the respective section; determining, by the one or more processors, from the image of the respective section, whether the respective section satisfies the size condition; and terminating, by the one or more processors, the automated cutting process responsive to determining that the respective section satisfies the size condition.

[0072] According to at least one aspect of the current disclosure, a system can include one or more processors coupled with memory. The one or more processors can be configured to interrupt a cutting process for cutting sections of a tissue block. The one or more processors can be configured to cause at least one of a tissue block holder or a corresponding wet surface to move relative to each other to cause a first surface of the tissue block held by the tissue block holder to come in proximity to a corresponding wet surface. The one or more processors can be configured to maintain the tissue block holder in proximity to the corresponding wet surface for a defined amount of time. The one or more processors can be configured to resume the cutting process responsive to the defined amount of time lapsing.

[0073] In some implementations, the system can include the tissue block holder, and a robotic subsystem configured to control movement of the tissue block. In some implementations, the one or more processors can be configured to cause the robotic subsystem to cause the tissue block holder to move towards the corresponding wet surface. In some implementations, the corresponding wet surface can be formed using a liquid. In some implementations, the cutting process can be a sectioning process for cutting sections after the tissue block has been faced.

[0074] In some implementations, the system can include a cutting assembly. In some implementations, the cutting assembly can include a blade for cutting the sections of the tissue block. In some implementations, the wet surface can be formed along a surface of the cutting assembly. In some implementations, the cutting assembly can include one or more fluid outlets configured to generate a stream of fluid that forms the wet surface.

[0075] In some implementations, the stream of fluid can be formed along a surface of the cutting assembly that is substantially parallel to a path of the tissue block holder and facing the tissue block holder. In some implementations, a temperature of the fluid can be between about 2 degrees Celsius and about 8 degrees Celsius. In some implementations, the fluid can include water. In some implementations, the stream of fluid can form a layer of fluid along the surface of the cutting assembly. In some implementations, the layer of fluid can have a thickness of between about 0. 2 mm and about 1. 8 mm.

[0076] In some implementations, the one or more processors can be configured to cause fluid flow through the one or more fluid outlets responsive to moving the tissue block in proximity to the corresponding wet surface. In some implementations, the one or more processors can be configured to terminate fluid flow through the one or more fluid outlets responsive to moving the tissue block away from the wet surface or the defined amount of time lapsing.

[0077] In some implementations, the one or more processors can be configured to interrupt the cutting process responsive to a chilling condition being satisfied. In some implementations, the chilling condition is based on cutting a defined number of sections being cut. In some implementations, the system can include one or more cameras configured to capture one or more images of at least one of the tissue block or sections cut from the tissue block. In some implementations, the one or more processors can be configured to interrupt the cutting process responsive to analysis of the one or more images.

[0078] In some implementations, the defined amount of time can be between about 10 seconds to 120 seconds. In some implementations, the one or more processors can be configured to adjust a position of the tissue block such that a defined depth of the tissue blockis exposed to the corresponding wet surface. In some implementations, the defined amount of time can be between about 5 seconds to 500 seconds.

[0079] According to at least one aspect of the current disclosure, a method of fast rechilling for sequential sectioning for a robotic microtomy system can include interrupting, by one or more processors coupled with memory, a cutting process for cutting sections of a tissue block. The method can include causing, by the one or more processors, at least one of a tissue block holder or a corresponding wet surface to move relative to each other to cause a first surface of the tissue block held by the tissue block holder to come in proximity to a corresponding wet surface. The method can include maintaining, by the one or more processors, the tissue block holder in proximity to the corresponding wet surface for a defined amount of time. The method can include resuming, by the one or more processors, the cutting process responsive to the defined amount of time lapsing.

[0080] The method can include causing, by the one or more processors, a robotic subsystem to cause the tissue block holder to move towards the corresponding wet surface. In some implementations, the corresponding wet surface can be formed using a liquid. In some implementations, the cutting process can be a sectioning process for cutting sections after the tissue block has been faced.

[0081] The method can include causing, by the one or more processors, a cutting assembly including a blade to cut the sections of the tissue block, wherein the wet surface is formed along a surface of the cutting assembly. The method can include causing, by the one or more processors, one or more fluid outlets of the cutting assembly to generate a stream of fluid forming the wet surface. The method can include causing, by the one or more processors, the stream of fluid to be formed along a surface of the cutting assembly that is substantially parallel to a path of the tissue block holder and facing the tissue block holder.

[0082] The method can include causing, by the one or more processors, to maintain a temperature of the fluid between about 2 degrees Celsius and about 8 degrees Celsius. In some implementations, the fluid can include water. The method can include causing, by the one or more processors, the stream of fluid to form a layer of fluid along the surface of the cutting assembly. In some implementations, the layer of fluid can have a thickness of between about 0. 2 mm to about 1. 8 mm.

[0083] The method can include causing, by the one or more processors, fluid flow through the one or more fluid outlets responsive to moving the tissue block in proximity to the corresponding wet surface. The method can include terminating, by the one or moreprocessors, the fluid flow through the one or more fluid outlets responsive to moving the tissue block away from the wet surface or the defined amount of time lapsing.

[0084] The method can include interrupting, by the one or more processors, the cutting process responsive to a chilling condition being satisfied. In some implementations, the chilling condition can be based on cutting a defined number of sections being cut. The method can include configuring, by the one or more processors, one or more cameras to capture one or more images of at least one of the tissue block or sections cut from the tissue block. The method can include interrupting, by the one or more processors, the cutting process responsive to analysis of the one or more images.

[0085] In some implementations, the defined amount of time can be between about 10 seconds to 120 seconds. The method can include adjusting, by the one or more processors, a position of the tissue block such that a defined depth of the tissue block is exposed to the corresponding wet surface. In some implementations, the defined amount of time can be between about 5 seconds and 500 seconds.

[0086] According to at least one aspect of the current disclosure, a system can include one or more processors coupled with memory. The system can include a liquid container. The system can include one or more slots disposed within the liquid container, wherein each slot can include an array of contacts on which a tissue block can be positioned and a controller configured to control a level of liquid in the liquid container to cause a defined depth of the tissue block to be immersed in the liquid.

[0087] In some implementations, the array of contacts can include an array of contact points. In some implementations, each contact can be spherical. In some implementations, each contact point can have a pointed tip. In some implementations, the array of contacts can be positioned on a platform. In some implementations, the platform can be configured to be raised from a first position to a second position and lowered from the second position to the first position. In some implementations, the controller can be configured to control a temperature of the liquid in the liquid container.

[0088] In some implementations, the system can include a robotic subsystem configured to position the tissue block at a respective slot and remove the tissue block from the respective slot responsive to a removal condition being satisfied. The removal condition can be satisfied based on a defined amount of time lapsing or based on a desired temperature condition being satisfied. In some implementations, the robotic subsystem can be configured to move the tissue block to a sectioning subsystem to cut sections from the tissue block after the tissue block is immersed in the liquid.

[0089] In some implementations, the liquid container can include one or more volumetric structures. Each volumetric structure can be configured to change in size to adjust the level of liquid in the liquid container. In some implementations, the controller can be configured to adjust one or more flow parameters of the liquid in the liquid container. In some implementations, the array of contacts can include three or more contacts, with each contact separated from adjacent contacts. In some implementations, each contact can be thermally conductive. In some implementations, each contact can be thermally insulated.

[0090] According to at least one aspect of the current disclosure, a method of determining accurate temperature or chemical treatment of generic tissue block faces for a robotic microtomy system can include placing, by a robotic subsystem, a tissue block in a slot of one or more slots of a liquid container. In some implementations, each slot can include an array of contacts on which a tissue block can be positioned. The method can include controlling, by a controller, a level of liquid in the liquid container to cause a defined depth of the tissue block to be immersed in the liquid.

[0091] In some implementations, the array of contacts can include an array of contact points. In some implementations, each contact can be spherical. In some implementations, each contact point can have a pointed tip. In some implementations, the array of contacts can be positioned on a platform.

[0092] In some implementations, the method can include causing the platform to be raised from a first position to a second position and lowered from the second position to the first position. In some implementations, the method can include controlling, by the controller, a temperature of the liquid in the liquid container. In some implementations, the method can include removing, by the robotic subsystem, the tissue block from a respective slot of the one or more slots responsive to a removal condition being satisfied. The removal condition can be satisfied based on a defined amount of time lapsing or based on a desired temperature condition being satisfied.

[0093] In some implementations, the method can include moving, by the robotic subsystem, the tissue block to a sectioning subsystem to cut sections from the tissue block after the tissue block is immersed in the liquid. In some implementations, the method can include changing, by the controller, size of each volumetric structure of one or more volumetric structures within the liquid container to adjust the level of liquid in the liquid container. In some implementations, the method can include adjusting, by the controller, one or more flow parameters of the liquid in the liquid container.

[0094] In some implementations, the array of contacts can include three or more contacts. Each contact can be separated from adjacent contacts. In some implementations, each contact can be thermally conductive. In some implementations, each contact can be thermally insulated.

[0095] According to at least one aspect of the current disclosure, a method can include placing, by a robotic subsystem, a tissue block in a slot of one or more slots of a liquid container. Each slot of the one or more slots can include an array of contacts on which a tissue block can be positioned. The method can include controlling, by a controller, a level of liquid in the liquid container to cause a defined depth of the tissue block to be immersed in the liquid.

[0096] In some implementations, the array of contacts can include an array of contact points. In some implementations, each contact of the array of contacts can be spherical. Each contact point of the array of contact points can have a pointed tip.

[0097] In some implementations, the array of contacts can be positioned on a platform, and the method can include causing the platform to be raised from a first position to a second position and lowered from the second position to the first position. In some implementations, the method can include controlling, by the controller, a temperature of the liquid in the liquid container.

[0098] In some implementations, the method can include removing, by the robotic subsystem, the tissue block from a respective slot of the one or more slots responsive to a removal condition being satisfied. The removal condition can be satisfied based on a defined amount of time lapsing or based on a desired temperature condition being satisfied. The method can include moving, by the robotic subsystem, the tissue block to a sectioning subsystem to cut sections from the tissue block after the tissue block is immersed in the liquid.

[0099] In some implementations, the method can include changing, by the controller, size of each volumetric structure of one or more volumetric structures within the liquid container to adjust the level of liquid in the liquid container. In some implementations, the method can include adjusting, by the controller, one or more flow parameters of the liquid in the liquid container. In some implementations, the array of contacts can include three or more contacts, each contact separated from adjacent contacts. In some implementations, wherein each contact can be thermally conductive. In some implementations, wherein each contact can be thermally insulated.

[0100] According to at least one aspect of the current disclosure, a system can include one or more processors coupled to memory. The one or more processors can be configured toidentify a section cut by a blade edge, cause a section manipulator to pick up the section from the blade edge, obtain a first image of the section attached to the section manipulator, analyze the first image to determine to further process the section, cause the section manipulator to transport the section to a second region, obtain a second image of the section attached to the section manipulator at the second region, and cause a slide to pick up the section responsive to analysis of the second image.

[0101] In some implementations, the one or more processors can be configured to cause the at least one camera to capture a third image of the section placed on the slide, determine, from the third image, that the third image satisfies a third condition, and cause the slide including the section to move to a slide storage device.

[0102] In some implementations, the section can be a first section wherein the one or more processors can be configured to cause the at least one camera to capture, at the first location, a third image of a second section cut from the tissue block by the cutting assembly, determine, from the third image, that the third image does not satisfy the first condition, and cause the second section to be discarded responsive to determining that the third image does not satisfy the first condition.

[0103] In some implementations, to cause the second section to be discarded, the one or more processors can be configured to cause the second section to be detached from the robotic subsystem. In some implementations, wherein to cause the second section to be detached from the robotic subsystem, the one or more processors can be configured to cause the robotic subsystem to submerge the second section in a liquid medium to cause the second section to detach from the robotic subsystem.

[0104] In some implementations, the section can be a first section and wherein the one or more processors can be configured to cause the at least one camera to capture, at the first location, a third image of a second section cut from the tissue block by the cutting assembly, determine, from the third image, that the third image satisfies the first condition, transport, responsive to determining that the third image satisfies the first condition, the second section from the first location to the second location, cause, at the second location, the at least one camera to capture a fourth image of the section at the second location, determine, from the fourth image, that the fourth image does not satisfy the second condition, and cause the second section to be discarded responsive to determining that the fourth image does not satisfy the second condition.

[0105] In some implementations, to cause the second section to be discarded responsive to determining that the fourth image does not satisfy the second condition, the one or moreprocessors can be configured to cause the robotic subsystem to submerge the second section in a liquid medium to cause the second section to detach from the robotic subsystem.

[0106] In some implementations, the one or more processors can be configured to cause the at least one camera to capture a third image of the section placed on the slide, determine, from the third image, that the third image does not satisfy a third condition, and cause the section placed on the slide to be detached from the slide responsive to determining that the third image does not satisfy the third condition.

[0107] In some implementations, the robotic subsystem can be a first robotic subsystem, and the system can include a section subsystem wherein to cause the section placed on the slide to be detached from the slide does not satisfy the third condition, the one or more processors can be configured to cause the second robotic subsystem to submerge the slide in a liquid medium causing the second section to detach from the slide.

[0108] In some implementations, to cause the at least one camera to capture the first image of the section, the one or more processors can be configured to cause the at least one camera to capture the first image of the section while the section is attached to a blade of the cutting assembly. In some implementations, a blade of the cutting assembly can be partially submerged in a liquid medium and wherein to cause the at least one camera to capture the first image of the section, the one or more processors can be configured to cause the at least one camera to capture the first image of the section while the section is floating on a liquid medium.

[0109] In some implementations, to cause the at least one camera to capture the first image of the section, the one or more processors can be configured to cause the at least one camera to capture the first image of the section while the section can be held by the robotic subsystem and floating on the liquid medium. In some implementations, to cause the at least one camera to capture the first image of the section, the one or more processors can be configured to cause the at least one camera to capture the first image of the section prior to the cutting assembly cutting a subsequent section of the tissue block.

[0110] In some implementations, to cause the at least one camera to capture the first image of the section, the one or more processors can be configured to determine that the tissue block is at a defined position and send an instruction to cause the at least one camera to capture the first image responsive to determining that the tissue block is at the defined position. In some implementations, the tissue block can be determined to be at the defined position using a sensor.

[0111] According to at least one aspect of the current disclosure, a method using one or more processors coupled to memory can include identifying a section cut by a blade edge, causing a section manipulator to pick up the section from the blade edge, obtaining a first image of the section attached to the section manipulator, analyzing the first image to determine to further process the section, causing the section manipulator to transport the section to a second region, obtaining a second image of the section attached to the section manipulator at the second region, and causing a slide to pick up the section responsive to analysis of the second image.

[0112] In some implementations, the method can include causing the at least one camera to capture a third image of the section placed on the slide, determining, from the third image, that the third image satisfies a third condition, and causing the slide including the section to move to a slide storage device.

[0113] In some implementations, the section can be a first section and wherein the method can include causing the at least one camera to capture, at the first location, a third image of a second section cut from the tissue block by the cutting assembly, determining, from the third image, that the third image does not satisfy the first condition, and causing the second section to be discarded responsive to determining that the third image does not satisfy the first condition. Causing the second section to be discarded can include causing the second section to be detached from the robotic subsystem. Causing the second section to be detached from the robotic subsystem can include causing the robotic subsystem to submerge the second section in a liquid medium to cause the second section to detach from the robotic subsystem.

[0114] In some implementations, the section can be a first section and the method can include causing the at least one camera to capture, at the first location, a third image of a second section cut from the tissue block by the cutting assembly; determining, from the third image, that the third image satisfies the first condition; transporting, responsive to determining that the third image satisfies the first condition, the second section from the first location to the second location; causing, at the second location, the at least one camera to capture a fourth image of the section at the second location; determining, from the fourth image, that the fourth image does not satisfy the second condition; and causing the second section to be discarded responsive to determining that the fourth image does not satisfy the second condition. Causing the second section to be discarded responsive to determining that the fourth image does not satisfy the second condition can include causing the robotic subsystem to submerge the second section in a liquid medium to cause the second section to detach from the robotic subsystem.

[0115] In some implementations, the method can include causing the at least one camera to capture a third image of the section placed on the slide; determining, from the third image, that the third image does not satisfy a third condition; causing the section placed on the slide to be detached from the slide responsive to determining that the third image does not satisfy the third condition.

[0116] In some implementations, the robotic subsystem can be a first robotic subsystem and causing the section placed on the slide to be detached from the slide responsive to determining that the third image does not satisfy the third condition can include causing a second robotic subsystem to submerge the slide in a liquid medium causing the second section to detach from the slide.

[0117] In some implementations, causing the at least one camera to capture the first image of the section can include causing the at least one camera to capture the first image of the section while the section is attached to a blade of the cutting assembly.

[0118] In some implementations, a blade of the cutting assembly can be partially submerged in a liquid medium and causing the at least one camera to capture the first image of the section can include causing the at least one camera to capture the first image of the section while the section is floating on a liquid medium. Causing the at least one camera to capture the first image of the section can include causing the at least one camera to capture the first image of the section while the section is held by the robotic subsystem and floating on the liquid medium.

[0119] In some implementations, causing the at least one camera to capture the first image of the section can include causing the at least one camera to capture the first image of the section prior to the cutting assembly cutting a subsequent section of the tissue block.

[0120] In some implementations, causing the at least one camera to capture the first image of the section can include determining that the tissue block is at a defined position, and sending an instruction to cause the at least one camera to capture the first image responsive to determining that the tissue block is at the defined position. The tissue block can be determined to be at the defined position using a sensor.

[0121] In various implementations, a system including one or more processors coupled to memory, the one or more processors configured to identify a section cut by a blade edge of a cutting assembly; cause a section manipulator to engage the section; cause at least one camera to capture a first image of the section based on a position of the section manipulator or a tissue block from which the section was cut; analyze the first image to determine to further process the section; and cause a slide to pick up the section based on analysis of the first image. Invarious implementations, the one or more processors are configured to cause the at least one camera to capture a second image of the section placed on the slide; determine, from the second image, that the second image satisfies a condition; cause the slide including the section to be moved to a slide storage device. In various implementations, the section is a first section and wherein the one or more processors configured to cause the at least one camera to capture, at the first location, a third image of a second section cut from the tissue block by the cutting assembly; and cause the second section to be discarded responsive to determining that the third image does not satisfy a slide pickup condition. In various implementations, to cause the second section to be discarded, the one or more processors is configured to cause the second section to be detached from the section manipulator. In various implementations, to cause the second section to be detached from the section manipulator, the one or more processors are configured to cause the section manipulator to submerge the second section in a liquid medium to cause the second section to detach from the section manipulator.BRIEF DESCRIPTION OF THE DRAWINGS

[0122] 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 block management and cutting using a robotic microtomy system are described in detail below with reference to the accompanying drawings, wherein:

[0123] FIG. 1 is a block diagram of a microtomy system, according to an example implementation of the current disclosure.

[0124] 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.

[0125] FIGS. 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.

[0126] FIGS. 2F-2G depict various views of robotic subsystems within the microtomy system, including robotic arms configured for handling tissue blocks, slides, and / or blades, according to an example implementation of the current disclosure.

[0127] FIG. 3 shows various views of a tissue block, according to an example implementation of the current disclosure.

[0128] 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.

[0129] FIG. 5 is a block diagram of a microtomy controlling system, according to an example implementation of the current disclosure.

[0130] FIG. 6 shows an implementation of a multi -microtomy system, according to an example implementation of the current disclosure.

[0131] FIG. 7A is a schematic illustration of a centralized microtomy controlling system, according to an example implementation of the current disclosure.

[0132] FIG. 7B is a block diagram of a distributed microtomy controlling system, according to an example implementation of the current disclosure.

[0133] 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.

[0134] FIGS. 9 A and 9B depict various views of a block pathway system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0135] FIG. 9C depicts an exploded perspective view of a block transport subsystem, including a block storage system, a robotic arm with block carriers, a barcode scanner, a block exchange seat, and various actuators for manipulating and positioning tissue blocks within the microtomy system, according to an example implementation of the current disclosure

[0136] FIGS. 10A-10F depict various aspects of a block storage system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0137] FIGS. 11A-11E depict various views of a block I / O subsystem of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0138] FIGS. 12A-12H depict various views of a block transport subsystem of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0139] FIGS. 13A-13B depict various views of a feeder transport subsystem of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0140] FIG. 14 depicts perspective views of a feeder carrier device of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0141] FIGS. 15A-15C depict various perspective views of a block holder of the microtomy system of FIG. 1, according to an example implementation.

[0142] FIGS. 16A-16D depict a sequence of images illustrating the block holder receiving and securing a tissue block, according to an example implementation of the current disclosure.

[0143] FIGS. 17A-17E depict various views of a section pathway of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0144] FIGS. 18A-18H depict various aspects associated with a main pool of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0145] FIGS. 18I-M depict various aspects of section pickup of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0146] FIG. 19 is a flowchart depicting a method representing an example implementation of the section pathway, according to an example implementation of the current disclosure.

[0147] FIGS. 20A and 20B depict various views of a chilling station of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0148] FIG. 21 depicts an active waterfall cooling system of the microtomy system of FIG.1, according to an example implementation of the current disclosure.

[0149] FIGS. 22A and 22B depict various views of a block offset sensor system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0150] FIGS. 23A-23K depict flowcharts of various methods or algorithms used for quality control of sections cut from tissue blocks in the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0151] FIGS. 24A-24B depict flowcharts of various methods or algorithms to determine block offset correction for the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0152] FIGS. 25A-25C depict various snapshots of a video sequence illustrating determination or scanning of a block identifier of a tissue block, according to an example implementation of the current disclosure.

[0153] FIG. 26 depicts perspective views of a slide storage system of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0154] FIG. 27 depicts a slide storage device of the microtomy system of FIG. 1, according to an example implementation of the current disclosure.

[0155] FIG. 28 is a flow chart illustrating a method of efficient traceability of slides to corresponding tissue blocks, according to an example implementation of the current disclosure.

[0156] FIG. 29 depicts a flowchart illustrating a method 2900 of storing and accessing tissue blocks in a microtomy system, according to an example implementation of the current disclosure.

[0157] FIG. 30A depicts a flowchart illustrating a method of tissue block transport and handling during the facing process, according to an example implementation of the current disclosure.

[0158] FIG. 30B depicts a flowchart illustrating a method for handling tissue blocks through a robotic arm subsystem, including retrieving an unfaced block from storage, transferring the block for facing, exchanging faced blocks, and / or returning the processed block to storage to begin a new cycle, according to an example implementation of the current disclosure.

[0159] FIG. 31A depicts a flowchart illustrating a method of tissue block transport and handling during the sectioning process, according to an example implementation of the current disclosure.

[0160] FIG. 3 IB depicts a flowchart illustrating a method for processing tissue blocks through chilling and sectioning operations, including identifying a faced block, transferring the block for chilling, retrieving a chilled block, positioning the block for sectioning, and returning sectioned blocks to storage, according to an example implementation of the current disclosure.

[0161] FIGS. 32A-32D depict a sequence of images illustrating transfer and exchange of tissue blocks between robotic subsystems of the microtomy system, according to example implementation of the current disclosure.

[0162] FIG. 32E depicts perspective views of a dual-block carrier, according to example implementation of the current disclosure.

[0163] FIG. 32F depicts a sequence of images illustrating an exchange of tissue blocks between the dual-block carrier of FIG. 32E and a tissue bock holder, according to example implementation of the current disclosure.

[0164] FIG. 32G depicts a perspective view of a dual-block carrier system, including block grippers, actuation components, and mechanical structures for securing and rotating tissue blocks during transport and exchange between robotic subsystems, according to example implementation of the current disclosure.

[0165] FIG. 32H depicts a sequence of images illustrating the rotational and translational movement of a dual-block carrier system, demonstrating the exchange and positioning of tissue blocks between the carrier and a block holder within the microtomy system, according to example implementation of the current disclosure.

[0166] FIG. 33 is a flow chart illustrating a method of tissue block exchange between a first and second robotic subsystems, according to an example implementation of the current disclosure.

[0167] FIG. 34 depicts an illustration of a user interface for presenting images of a tissue block and corresponding slices is shown, according to example implementation of the current disclosure.

[0168] FIGS. 35A-35C depict a sequence of images illustrating a process of facing a tissue block, according to an example implementation of the current disclosure.

[0169] FIG. 36 depicts a flowchart of a method of displaying images during a facing process, according to example implementation of the current disclosure.

[0170] FIGS. 37A and 37B depict snapshots of a video sequence illustrating a process of aligning the tissue block with the blade, according to an example implementation of the current disclosure.

[0171] FIG. 38 shows a diagram depicting synchronization of a camera with movement of a tissue block, according to an example implementation of the current disclosure.

[0172] FIG. 39 depicts a method of automating cutting steps for a robotic microtomy system, according to example implementation of the current disclosure.

[0173] FIG. 40 is a diagram illustrating multi-level sectioning, according to an example implementation of the current disclosure.

[0174] FIG. 41 depicts a method of fast rechilling for sequential sectioning for a robotic microtomy system, according to an example implementation of the current disclosure.

[0175] FIGS. 42A-42C show images depicting various section defects or tissue block defects associated with inadequate chilling.

[0176] FIG. 43 depicts various views of a chilling station, according to an example implementation of the current disclosure.

[0177] FIG. 44 depicts a flowchart illustrating a chilling method, according to an example implementation of the current disclosure.

[0178] FIGS. 45A-45G show images depicting various defects of sections cut from tissue blocks.

[0179] FIG. 46 depicts a hot de-wrinkling pool, according to an example implementation of the current disclosure.

[0180] FIG. 47 depicts a system for picking up a section and capturing an image of the section once the section is picked up by a slide, according to an example implementation of the current disclosure.

[0181] FIG. 48 is a flowchart depicting a method for capturing and analyzing images of sections cut from a tissue block, according to an example implementation of the current disclosure.

[0182] FIG. 49 is a flowchart depicting a method for configuring liquid in a pool, according to an example implementation of the current disclosure.DETAILED DESCRIPTION

[0183] 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

[0184] 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 the tissue samples are examined under the microscope. Various tissue processing steps or processes are performed after the extraction of the tissue sample and before the examination under the microscope. The various steps or processes associated with a histopathology procedure can be described as follows.

[0185] 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.

[0186] 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.

[0187] A third step or process is referred to as grossing, which involves dissecting the tissue sample with a knife to choose a portion of the tissue sample. This grossing process is typically done by a qualified personnel, e.g., a grossing pathologist. The grossing pathologist cuts the tissue sample down to a thickness of about 4 mm and to a length and breadth resulting in a size which can be mounted on a slide. The slide can have a size of 25 mm by 75 mm.

[0188] The next step is called “processing” and includes a series of sub-steps to remove water content from the tissue and replace it with paraffin wax. The tissue sample contains water andformalin 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. The wax provides structural support during cutting.

[0189] 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.

[0190] 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.

[0191] 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 over-dehydrated and become prone to crumbling 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 toachieve a clean cut of sections that are free of compression. Without cooling the tissue block and consequently making the wax hard, sections cut from the tissue block usually come out with wrinkles, which are not desirable as they prevent reliable examination of the sections under the microscope.

[0192] The 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. The sections placed on the slides can be dried and stained before the microscopy examination.B. Robotic Microtomy System

[0193] 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).

[0194] 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. The microtomy system 100 can be configured to distinguish or identify, for at least one (e.g., each) tissue block, which slides are used to carry sections corresponding cut from the tissue block. The microtomy system 100 can include one or more cameras to capture images at one or more stages of the microtomy process, e.g., to be displayed on a display device or a computing device communicatively coupled to the microtomy system 100. The microtomy system 100 can include one or more sensors to monitor or detect positions or states of one or more components of the microtomy system 100.

[0195] The 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 thesections, 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.

[0196] 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 stored instructions, microcontrollers regulating movement and positioning), or data-driven decisionmaking (e.g., vision-based detection, sensor-based alignment, algorithmic process optimization). The 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.

[0197] 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 semiautomated functionality.

[0198] 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 multi-axis 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 sensorfeedback (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.

[0199] 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.

[0200] In some implementations, the blade pathway system 108 includes a blade storage subsystem (e.g., blade storage system 502) configured to store a plurality of blades, a blade transport subsystem (e.g., blade transport gantry 520) configured to carry or transport blades between compartments of the blade storage subsystem and a cutting assembly, and a blade holder within the cutting assembly configured to secure a blade for sectioning operations. 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. The 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.

[0201] 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 amicroscope. The section pathway system 104 can include monitoring or assessment mechanisms to assess the quality of sections cut by the cutting assembly.

[0202] 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.

[0203] The blade pathway system 108 is configured to automatically manage or control the storage and transport of blades within the microtomy system 100. As described in further detail below, the blade pathway system 108 can include a blade storage system to store a plurality of blades and one or more robotic subsystems to carry or transport blades between compartments of the blade storage system and / or the cutting assembly. The blade pathway system 108 can be configured to automatically secure a blade within the cutting assembly to cut sections of the tissue blocks. The blade pathway 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.

[0204] 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.

[0205] The liquids provided and / or managed by the liquid pathway system 110 can include de-ionized water and / or de-ionized water mixed with chemicals or substances. One advantage of de-ionized water is that it does not contain any dissolved salts, which can cause build-up of salts and damage the microtomy system 100 or components thereof over time. The liquid pathway system 110 can provide or cause flow of cold water, e.g., about 4 degrees Celsius and / or a range, such as 2 to 6 degrees Celsius, for use as a transfer medium for sections cut from the tissue blocks and as a cooling medium during facing and / or sectioning. The liquid pathway 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. The liquid pathway system 110 can provide or cause flow of warm or hot water, e.g., about 50 degrees Celsius and / or a range, such as 30-70degrees 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.

[0206] 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.

[0207] 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.

[0208] 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, subsystems 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.

[0209] The block pathway system 102 can include a block storage system 201 to store a plurality of tissue blocks 203. The block storage system 201 can have a corresponding capacity indicative of the maximum number of tissue blocks 203 that can be stored by the block storage system 201. The block pathway system 102 can include various robotic subsystems, such as a block transport subsystem and a feeder transport subsystem 216. The feeder transport subsystem 216 is also referred to herein as a feeder transport system, a robotic feeder transport system or a robotic transport system. The feeder transport subsystem 216 can include a feeder carrier device 202, which is also referred to herein as jaw feeder. The block pathway system 102 or the microtomy system 100 can include a tissue block holder forholding 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.

[0210] 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.

[0211] 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. The section pathway can include a microtome internal system 214. The microtome internal system 214 can include a mechanical system to actuate vertical and / or horizontal motion of the tissue block holder.

[0212] 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.

[0213] 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. The blade storage subsystem can have a blade loading capacity, e.g., a maximum of 30 blades. The blade pathway system 108 or the cutting assembly can include a blade clamping system 218 to secure or unsecure the blade within the blade holder.

[0214] 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. The blade pathway system 108 includes a blade storage subsystem configured to store a plurality of blades, a blade transport subsystem configured to carry or transport blades between compartments of the blade storage subsystem and a cutting assembly, and a blade holder within the cutting assembly configured to secure a blade for sectioning operations. The blade storage subsystem can have a blade loading capacity indicative of the maximum number of blades that can be stored within the microtomy system 100. 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.

[0215] FIG. 2E depicts another robotic implementation of the microtomy system 100, according to an example implementation. The robotic implementation of FIG. 2E is a multilevel or multi-layer robotic microtomy system including 3 levels or layers 120, 122 and 124 stacked vertically. For example, the lower level 120 can include the liquid pathway system 110. The intermediate level 122 can include the microtome internal system 214, pools or liquid media and the slide storage system 204. The upper level 124 can include the block transport system, the chilling station 210, the blade storage system and the robotic subsystemsto carry or transport blades between compartments of the blade storage system and / or the cutting assembly.

[0216] In some implementations, microtomy system 100 may include various robotic subsystems as shown in FIG. 2F, particular robotic arm subsystems (e.g., 250 and 260) can be used for block pathway system 104, blade pathway system 108, and / or slide pathway system 106. For example, slide pathway system 106 can include the slide storage system 204 and the slide robotic arm subsystem 250 (e.g., slide transporter). In some implementations, the block pathway system 102 can include the block-blade robotic arm subsystem 260. The block-blade robotic arm 261 can be configured to pick and place tissue blocks 203 on block storage systems using the plurality of block-blade holders 262 (also referred to herein as “block-blade carriers”) present on the toolhead of the block-blade robotic arm 261. The blockblade 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.

[0217] In some implementations, the block transport subsystem can include a block exchange seat 274, where a tissue block 203 can be positioned before being transferred to other components of microtomy system 100. The block exchange seat 274 can serve as an intermediate station for securing and aligning the tissue block 203 prior to further processing (e.g., sectioning, barcode scanning, cooling). The block-blade robotic arm 261 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).

[0218] The block transport subsystem can include clamps 275 and 276, which can be tapered to function as a self-centering jaw (e.g., wedge-shaped, conical, or V-groove). The clamps 275 and 276 can apply force to push the tissue block 203 downward against the block exchange seat 274 (e.g., pneumatic actuation, motorized drive), ensuring the block is flat before being picked up by the block-blade robotic arm 261. The self-centering jaw mechanism of clamps 275 and 276 can align the tissue block 203 by constraining movement within predefined tolerances (e.g., micrometer-scale positioning, alignment verification via sensors), positioning the block accurately for subsequent transport (e.g., transfer to barcode scanner, chilling station, sectioning system). The self-centering jaw can also provide stabilization tomaintain alignment during handling operations (e.g., vibration-resistant clamping, frictionbased holding), reducing variability in block positioning across different stages of microtomy system 100.

[0219] In some implementations, the block transport subsystem can include a camera 278 positioned to capture images of the tissue block 203 before sectioning. The camera 278 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 278 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). The processing circuits of microtomy system 100 can execute instructions to analyze image data from camera 278 to adjust sectioning parameters (e.g., cutting depth, blade positioning) based on detected block characteristics.

[0220] The block transport subsystem can include a code sensor 910 configured to read identifying information associated with tissue block 203 (e.g., block ID, patient reference number, processing timestamp). The code sensor 910 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 code sensor 910 can be a dedicated barcode reading device (e.g., laser scanner, CCD-based scanner) that outputs block identification data to processing circuits of microtomy system 100. In some implementations, code sensor 910 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.

[0221] In some implementations, blade pathway system 108 can include block-blade robotic arm subsystem 260. The block-blade robotic arm 261 may include a plurality of block-bladeholders 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 251 can include a plurality of slide grippers 252 on the toolhead. The slide robotic arm 251 and toolhead can be configured to retrieve and place slides from slide storage system 204 and / or exchange slides once the slide is ready with new sections.

[0222] Generally, referring to robotic arm subsystem 250, the slide robotic arm subsystem 250 can be configured to manipulate and transport slides within microtomy system 100. The slide robotic arm 251 can be actuated to retrieve slides from slide storage system 204 and position slides for section placement. The slide grippers 252 on 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.

[0223] 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 arm 251 can coordinate with other robotic subsystems of microtomy system 100 to transfer slides at predefined intervals based on sectioning and processing parameters (e.g., section thickness, staining duration).

[0224] 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 arm 251 can be based on predefined motion trajectories (e.g., Cartesian or joint-space paths), which can position slides within slide pathway system 106. The slide robotic arm 251 can be programmed to execute retrieval, transfer, and / or placement operations in a manner that reduces mechanical stress on slides (e.g., controlled acceleration, force-limited gripping). The robotic control of slide robotic arm 251 can be configured to operate in coordination with slide grippers 252 to hold slides during transport and placement. The slide robotic arm 251 can operate with motion constraints (e.g., velocity limits, path correction) and programmed control parameters (e.g., positioning tolerances) to manipulate slides in different orientations during transport.

[0225] The slide grippers 252 can be configured to hold and manipulate slides within microtomy system 100. The slide grippers 252 can hold slides at different locations within slide pathway system 106 (e.g., storage racks, sectioning station) and allow for movement during section transfer. The slide grippers 252 can include an actuation mechanism (e.g., motorized clamping) to open and close in response to control signals, which can allow gripping and release of slides. For example, a control signal can be received from a slide handling controller (e.g., processing circuits executing instructions stored in memory, operating locally and / or communicating with a centralized control system to coordinate slide transport operations), which can cause the slide grippers 252 to engage or release a slide at a designated position. In this example, the control signal can be generated based on slide position data received from sensors and / or a predetermined motion sequence executed by slide robotic arm 251. The slide grippers 252 can be configured to apply a gripping force (e.g., pressure-controlled mechanism) to hold slides while preventing excessive pressure that could cause deformation or misalignment. As used herein, “response to” and / or “responsive” can refer to directly responsive to or indirectly responsive to.

[0226] 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).

[0227] 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. The block-blade robotic arm 261 can execute transport operations between block storage system 201, block exchange station, and blade pathway system 108. The block-blade holders 262 on the toolhead can secure tissue blocks 203 for movement through sectioning, chilling, and barcode scanning stations. The block-blade robotic arm 261 can further retrieve blades from blade storage subsystem 270 and position them within a cutting assembly. The block-blade robotic arm subsystem 260 can coordinate operations with block pathway system 102 and blade pathway system 108 to automate the process of securing tissue blocks for sectioning and managing blade replacement as required.

[0228] The block-blade robotic arm subsystem 260 can include an articulated arm 261 having a block-blade holder 262 configured with a magnetic surface. The robotic subsystem 260 can cause the block-blade holder 262 to move to a first position where the magnetic surface of the block-blade holder 262 is magnetically coupled to an exposed surface of a blade 510 stored in a first structure (e.g., blade storage device 508). The robotic subsystem 260 can further cause 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). The robotic subsystem 260 can then cause the block-blade holder 262 to move in a direction such that the second structure exerts a force on the blade 510, resulting in the blade 510 detaching from the magnetic surface of the block-blade holder 262.

[0229] 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. The blade 510 can then be transported without shifting relative to the block-blade holder 262, maintaining a fixed orientation throughout movement. The second structure (e.g., blade clamping mechanism) can exert a shearing force on the blade 510 as the block-blade holder 262 moves in the direction of the blade insertion axis, guiding the blade 510 into a secure position for sectioning operations.

[0230] The block-blade holder 262 can include a resting surface transverse to the magnetic surface to accommodate a first side of the blade 510 during transport. The system can further include a spring configured to push the blade 510 against a surface of the second structure (e.g., blade clamping mechanism) upon detachment. The second structure can include a resting surface that exerts force on the blade 510, ensuring that the blade 510 is properly seated as the spring maintains pressure against the resting surface. The system can also include a third structure (e.g., blade securing clamp) that applies a clamping force to the blade 510 using a spring. The third structure can be unclamped from the blade 510 by a motor, permitting automated blade swaps during sectioning operations.

[0231] The third structure (e.g., blade securing clamp) can have a width smaller than the length of the blade 510 such that when the blade 510 is inserted in a slot defined by the second structure, a portion of the blade 510 extends beyond the width of the third structure. The robotic subsystem 260 can cause the block-blade holder 262 to move toward the blade 510 such that the magnetic surface of the block-blade holder 262 magnetically couples to theportion 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 arms 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 permanent magnet to maintain secure attachment to the blade 510 during transport.

[0232] 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. The movement of blockblade 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.

[0233] The block-blade robotic arm 261 can operate in coordination with other robotic subsystems of microtomy system 100 to transport blocks and blades. The block-blade robotic arm 261 can include multiple degrees of freedom (e.g., rotational joints, linear actuators) for movement control, which can position tissue blocks 203 and blades. The robotic control system can adjust the motion of block-blade robotic arm 261 based on feedback from sensors and imaging systems (e.g., optical encoders, camera-based alignment). The actuation of block-blade robotic arm 261 can be configured to transport blocks and blades between storage, processing, and sectioning stations (e.g., block chilling station 210, blade replacement station).

[0234] 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)

[0235] 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.

[0236] In another example, a control signal can be received from a block transport controller (e.g., processing circuits executing instructions stored in memory, operating locally and / or communicating with a centralized control system to manage block transport sequences), which can cause the block-blade holders 262 to engage or release a tissue block during transfer between storage and sectioning stations. In this example, the control signal can be based on block position data received from sensors or preprogrammed movement sequences of block-blade robotic arm 261, which can align the tissue block 203 for sectioning or barcode scanning before release.

[0237] 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 blockblade 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). The 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).

[0238] In general, the microtomy system 100 can be implemented according to other robotic implementations, e.g., other than those depicted in FIGS. 2A-2G. For example, robotic arm subsystems can include alternative actuation mechanisms (e.g., linear actuators, gantry-based systems) instead of articulated robotic 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 distributedprocessing architectures, with control functions assigned to dedicated subsystems and / or managed through a unified control system. Thus, it should be understood that while FIGS. 2A-2G illustrate some examples of a robotic microtomy system, alternative configurations, transport mechanisms, and control architectures can be used based on system requirements. In some implementations, a single robotic arm can be configured to handle slides, blocks, and blades by using interchangeable end effectors or adaptive grippers. That is, the robotic arm can switch between different tooling attachments (e.g., slide grippers, block clamps, blade holders) based on the component being transported, allowing a single robotic system to perform operations across slide pathway system 106, block pathway system 102, and blade pathway system 108.

[0239] The microtomy system 100 can include one or more processing circuits configured to control operations of the system, execute instructions stored in memory, and / or process data received from sensors, imaging devices, and / or robotic subsystems. The processing circuits can include one or more processors (e.g., central processing units (CPUs), microcontrollers, or application-specific integrated circuits (ASICs)) that perform computations and execute control algorithms to manage the microtomy process. The processing circuits can be communicatively coupled to memory devices (e.g., dynamic random-access memory (DRAM), NAND flash, or embedded multi-media card (eMMC)) storing executable instructions and system parameters, which can be used to perform processing operations related to slide transport, block handling, blade replacement, shifting, and / or liquid management. The processing circuits can execute instructions to coordinate movement sequences, monitor sensor feedback, and transmit control signals to actuation systems within microtomy system 100. In some implementations, the processing circuits can operate locally within microtomy system 100, whereas in some implementations, certain computational tasks can be 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.

[0240] 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 processingmodules, 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 some implementations, 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.

[0241] The processing circuits can execute instructions to manage data received from imaging systems, sensors, and / or feedback mechanisms deployed within microtomy system 100. The 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 learning-based defect detection, real-time motion optimization) can be offloaded to an external computing system that transmits computed results to microtomy system 100 for execution.

[0242] 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 by receiving feedback from sensors (e.g., torque sensors, proximity sensors, laser distance sensors) and adjusting motion parameters (e.g., speed, position, force)to compensate for mechanical tolerances, system variations, and environmental conditions (e.g., temperature fluctuations affecting wax hardness). The processing circuits can also manage command scheduling and synchronization between robotic subsystems (e.g., sequencing slide transport before block sectioning, replacing blades only after a sectioning cycle is completed) to prevent conflicts and maintain process efficiency. In some implementations, the control signals can be executed by 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.

[0243] 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. The processing circuits can transmit execution logs, diagnostic reports, and real-time operational data (e.g., section thickness variation, slide misalignment occurrences) to an external computing system for monitoring, analysis, and / or troubleshooting. The processing circuits can receive firmware updates, system configuration changes, and / or operational commands from an external controller, which can modify execution parameters or introduce software-based optimizations to the microtomy system 100. The processing circuits can also interface with security protocols (e.g., authentication tokens, encrypted communication), user authentication mechanisms (e.g., biometric access, password-protected remote login), and access control systems (e.g., role-based execution privileges) to regulate command execution and prevent unauthorized system modifications. In some implementations, remote system management can be performed through a web-based interface that allows an operator to monitor and adjust microtomy operations from an external computing device. In some implementations, data exchange can be restricted to a local network, preventing external access to operational controls while allowing data logging and / or retrieval within a secured environment.

[0244] 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. The rotary switching mechanism can allow exchange (e.g., quick, rapid) of tissue blocks at theblock holder 271, reducing processing delays in the sectioning workflow. The block-blade robotic arm 261 can directly retrieve and deposit tissue blocks 203 between the block storage system 201 and the block holder 271, eliminating and / or reducing the need for intermediary transport subsystems. The microtomy system 100 can be configured to perform blade swapping through a dual-gripper configuration, facilitating real-time blade exchange at the sectioning location and / or an alternate blade storage subsystem 270. Blade alignment can be achieved by pressing the gripped blade against a pair of rigid alignment surfaces, which can be positioned anywhere within the range of the block-blade robotic arm 261. The alignment mechanism can improve positioning tolerances by utilizing multiple contact surfaces on a single rectangular column structure.

[0245] 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 arm 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.

[0246] 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. The robotic control algorithms can update pickup, placement, and / or alignment based on predefined motion constraints, ensuring precise positioning across multiple subsystems. The system can utilize encoded position data and sensor feedback to confirm successful swaps.

[0247] Generally, the microtomy system 100 can implement section teardown at the blade edge through a dual-mode 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 next teardown cycle. To clear the blade of residual or malformed sections, the microtomy system 100 can also execute a fallback protocol equivalent to the single-section detach sequence.

[0248] In some implementations, the section pickup and slide placement pipeline of microtomy system 100 can include a de-bottl enecked 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. The slide pickup station includes a mechanical seat that holds the slide during section placement. This seat is submerged in the hot pool for de-wrinkling and then elevated (e.g., vertical popup 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 twomanipulators, given the comparatively longer dwell time required for hot pool de-wrinkling relative to section teardown.

[0249] 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). The inlet geometry can vary across implementations, and the inflow port can be located at alternate positions in a hydraulically connected body (e.g., opposite wall of the pool or bottom face). The direction and rate of inflow are set by the processing circuits based on cutting cycle timing and manipulator trajectory to minimize and / or reduce section drift. Section position tracking can be performed using a camera in the main pool for feedback control. Liquid exit points can be positioned along the sidewalls of the pool, maintaining consistent outflow velocity and removing rejected or malformed sections.

[0250] The 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 single-camera 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. The image data from camera can be processed by the main processor 112, which adjusts motion sequences for section manipulators 212 and grippers 252.

[0251] 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.

[0252] 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 tissueregion suspected to have a high probability of cancerous growth or some other tissue abnormality. The tissue sample 302 can be removed using a biopsy procedure. As discussed above in Section A, the tissue sample 302 can undergo multiple processes before being embedded within the wax block 304. The tissue sample 302 can have a thickness of about 4 mm and to a cross section sized to be mounted on a slide.

[0253] 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.

[0254] During the facing operation, the cutting assembly or the cutting blade can sequentially cut multiple sections of the wax block 304 embedding the tissue sample 302 until an “acceptable” or “proper” cross-section of the tissue sample 302 becomes exposed. During sectioning, the cutting assembly or the cutting blade can cut one or more sections of the wax block 304 such that 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.

[0255] The 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.

[0256] The block identifier 310 can be placed on the surface 308 of the cassette 306. The surface 308 can be a slanted or inclined surface of the cassette 306 such that when the tissue block 203 is placed in the microtomy system 100, the block identifier 310 is accessible to a scanner and / or reader (shown as code sensor 910 in FIG. 2F-2G). The block identifier 310 can be indicative of a corresponding subject, e.g., the patient from whom the tissue sample 302 was extracted. The scanner or reader (e.g., an optical barcode scanner, RFID reader, or machine vision system) can detect and decode the block identifier 310 to retrieve associatedmetadata, 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.

[0257] Referring now to FIG. 4, a flow chart of a microtomy method 400 is shown, according to an example implementation of the current disclosure. The method 400 can be implemented, performed or executed by the microtomy system 100. In brief overview, the method 400 can include the microtomy system 100 receiving a plurality of tissue blocks (STEP 402), performing a facing operation on the plurality of tissue blocks 203 (STEP 404), performing a chilling operation on the plurality of tissue blocks 203 (STEP 406) and performing a sectioning operation on the plurality of tissue blocks 203 (STEP 408).

[0258] 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.

[0259] At STEP 402, the microtomy system 100 can receive a plurality of tissue blocks 203 from an external source and load them into the block storage system 201. That is, the microtomy system 100 can identify available storage slots within the block storage system 201 and position 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.

[0260] 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 allthe 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 sample 302 becomes exposed. The processor 112 can cause the tissue block 203 to be moved back and placed in the block storage system 201. The processor 112 can repeat this process with all the tissue blocks 203.

[0261] 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 the exposed tissue surface using imaging sensors to determine whether additional facing passes are required before returning the tissue block 203 to the block storage system 201.

[0262] The microtomy system 100 can perform a chilling operation on the plurality of tissue blocks 203 (STEP 406). The block pathway system 102 can move or transport cause the plurality of tissue blocks 203, e.g., one at a time, from the block storage system 201 to the chilling station 210 to be chilled. 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 performed on the tissue block 203 right after chilling.

[0263] 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.

[0264] 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.

[0265] 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

[0266] 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 multimicrotomy 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. The liquid pathway 110can 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. The multi -microtomy 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.

[0267] 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., perform, 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. Different microtomy 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.

[0268] 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 multi -microtomy 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. The 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.

[0269] The 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 device512 can be part of the computer device 510. The 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. The 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.

[0270] 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.

[0271] 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. The 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 storage system 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.

[0272] The 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. The 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.

[0273] 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 the microtomy system 506 according to other mechanisms, e.g., other than slide loading bays 606.

[0274] 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.

[0275] 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) multimicrotomy 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.

[0276] The display device 508 can be communicatively coupled to the one or more multimicrotomy 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, the blade loadingbay 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.

[0277] 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.

[0278] 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.

[0279] 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 acomputer 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.

[0280] 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 thick sections or slices of the tissue block 203 (or the wax block 304) are cut until a “proper” cross section of the tissue sample 302 embedded in the wax block 304 is exposed. During the semi-automated tissue cutting process of the facing process, the microtomy system 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.

[0281] In general, any sub-process, stage or operation of the microtomy process can be semiautomated. 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.

[0282] The microtomy systems 506 can operate independent of one another. Any pair of microtomy systems 506, at some time example, can be performing the same sub-process or operation of the microtomy process or can be performing different sub-processes or operations. For example, multiple microtomy systems 506 can be performing the same subprocess 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. The computer device 510, to which the microtomy system 506 isassigned, is configured to monitor and / or control the microtomy system 506 during the semiautomated state of the microtomy system 506.

[0283] 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 semiautomated 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.

[0284] 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. The state 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.

[0285] 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 computerdevices 510. The computer server 708 may monitor and / or keep track of the current state of at least one (e.g., each) microtomy system 506.

[0286] 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 semi-automated tissue cutting process. For example, the first state can be an autonomous stage or phase of the facing process, and the second state can be a semi-automated stage or phase of the facing process.

[0287] 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. The computer 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.

[0288] 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. The 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.

[0289] 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 the microtomy system 506, to the computer device 510. The data can include at least one of one or more images of sections cut from the tissue block 203, one or more images of the tissue block 203, a cutting speed, a thickness of the sections cut or a temperature of a liquid of the microtomy system 506, among others.

[0290] 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”.

[0291] 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. The computer server 708 can update the availability status of the computer device 510 to the second availability status, e.g., “unavailable” or “busy”.

[0292] 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 the plurality 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 assignto 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, e.g., “unavailable” or “busy”, responsive to assigning the third microtomy system 506 to the second computer device 510.

[0293] In some implementations, the interface at the computer device can include a first image obtained from a first camera and a second image obtained from a second camera. The first image can be an image of a section of tissue cut by the microtomy system and the second image can be an image of a tissue block from which the section of tissue was cut. The interface can include a plurality of microtomy system control elements to control cutting parameters associated with the semi-automated tissue cutting process. The plurality of control elements can include a first element, which when selected, causes the microtomy system to cut a section of a tissue block loaded in the microtomy system and a second element, which when selected, causes the microtomy system to terminate the semi-automated tissue cutting process.

[0294] 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.

[0295] 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.

[0296] 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 computerdevices 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 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 from the microtomy system 506.

[0297] The 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.

[0298] 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. The images (or graphical items) 812 indicative of various microtomy systems 506 may or may not be part of the UI 800.

[0299] 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. The 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. The user may interact with the UI 800 via the I / O device 512.

[0300] 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., facingprocess, 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.

[0301] The 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. The 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.

[0302] The data or visual item 806 can display information about the tissue sample and processing applied to the tissue sample, such as grossing. The data or visual item 806 may depict information about the size and / or type of the tissue sample.

[0303] 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.

[0304] 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 computerdevice 510 can cause the facing process to be terminated and select another microtomy system 506 to be monitored and / or controlled.

[0305] 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.

[0306] 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 semiautomated facing 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. Block pathway

[0307] FIGS. 9 A and 9B depict various views of the block pathway system 102, according to an example implementation of the current disclosure. In brief overview, the block pathway system 102 can include a block storage subsystem 902, a block input / output (VO) subsystem 904, the chilling station 210, the feeder transport subsystem 216, a block transport subsystem 906 and a block holder assembly 908. The block I / O subsystem 904 can be a robotic subsystem and can be referred to herein as the block I / O robotic subsystem or the block I / O gantry. The feeder transport subsystem 216 can be a robotic transport system and can be referred to herein as jaw feeder gantry 216. The block transport subsystem 906 can be referred to herein as the block transporter gantry 906. The block holder 908 can be referred to herein as block jaw orblock holder assembly. The feeder transport subsystem 216 can be configured, structured or designed to provide or feed tissue blocks 203 to the block holder 908. The block I / O subsystem 904 can include a block I / O gantry. A code sensor 910 can be coupled to the block I / O subsystem 904. In some implementations, the code sensor 910 can be configured, arranged and / or positioned to scan, read and / or sense tissue block identifiers 310. In some implementations, the code sensor 910 can be or can include a scanner, e.g., a barcode scanneror a quick-response (QR) code scanner, a camera, a radio frequency identification (RFID) sensor, an imaging sensor or some other type of sensor configured to scan, read and / or sense block identifiers 310.

[0308] The block storage subsystem 902 can store a plurality of the tissue blocks 203 to be processed by the microtomy system 100. The block storage subsystem 902 can include at least one device to store the tissue blocks 203 at different stages of the microtomy process. For example, the block storage subsystem 902 may new store tissue blocks, e.g., non-faced tissue blocks, tissue blocks that had undergone facing and sectioning. As described in further detail below in relation to FIGS, 10A-10F, a user can load and / or unload the tissue blocks 203 into or from the block storage subsystem 902. The block storage subsystem 902 can be designed, adapted, arranged, structured or configured to facilitate automated handling of the tissue blocks 203. The block storage subsystem 902 can provide secure, safe and reliable storage for a batch of tissue blocks 203 that can be processed continuously.

[0309] The block I / O subsystem 904 can pick up tissue block 203 from the block storage subsystem 902 for transfer to the block transport subsystem 906. The block I / O subsystem 904 can receive a tissue 203 block from the block transport subsystem 906 and place or release the tissue block in the storage subsystem 902. For example, the block I / O subsystem 904 can pick up a new tissue block 203 from the block storage subsystem 902 and provide the tissue block to the block transport subsystem 906 to be carried for facing. The block I / O subsystem 904 can receive a faced tissue block 203 from the block transport subsystem 906 and place the faced tissue block back in the block storage subsystem 902. The microtomy system 100 can be configured to apply facing to the whole batch of tissue blocks 203 in the block storage subsystem 902 before applying chilling or sectioning to any of the faced blocks. The block VO subsystem 904 can grab or pick up a faced tissue block from the block storage subsystem 902 and provide or transfer the faced tissue block to the block transport subsystem 906 to be carried for chilling and sectioning. The block VO subsystem 904 can receive a sectioned tissue block from the block transport subsystem 906 and place the sectioned tissue block back in the block storage subsystem 902. The block I / O subsystem 904 can transfer the faced tissue block to the block transporter subsystem 906. The block transporter subsystem 906 can move back towards the block I / O subsystem 904 and feed the block VO subsystem 904 with a sectioned tissue block 203. The block VO subsystem 904 can transfer the sectioned block back to the block storage subsystem 902.

[0310] The block transport subsystem 906 can receive an unfaced tissue block 203 from the block I / O subsystem 904 and provide the unfaced tissue block 203 to the feeder transportsubsystem 216. The feeder transport subsystem 216 provide the unfaced tissue block 203 to the block holder 908 for facing. Once the tissue block 203 is fully faced, the feeder transport subsystem 216 can receive or grab the faced tissue block 203 from the block holder 908 and provide or transfer the faced tissue block 203 to the block transport subsystem 906. The block transport subsystem 906 can provide the faced block 203 back to the block I / O subsystem 904 for placing back in the block storage subsystem 902. Also, upon receiving a faced tissue block from the block I / O subsystem 904, the block transport subsystem can provide the faced tissue block 203 to the feeder transport subsystem 216. The feeder transport subsystem 216 can transport the faced tissue block 203 and place the faced tissue block 203 into the chilling station 210 for a defined time duration. The feeder transport subsystem 216 can pick up or grab the tissue block 203 from the chilling station 210 and provide the tissue block 203 to the block holder 908 for sectioning. Once the tissue block 203 is sectioned, the feeder transport subsystem 216 can receive or grab the sectioned tissue block 203 from the block holder 908 and provide the sectioned tissue block 203 to block transport subsystem 906. The block transport subsystem 906 can provide the sectioned tissue block 203 to the block I / O subsystem 904 for placing back in the block storage subsystem 902.

[0311] As discussed in further detail below, each of the block I / O subsystem 904, the block transport subsystem 906 and the feeder transport subsystem 216 can include a respective tissue block holding component, or respective tissue block carrier, configured or structured to hold or carry the tissue block 203. In some implementations, at least one of the block I / O subsystem 904, the block transport subsystem 906 or the feeder transport subsystem 216 can include two or more tissue block holding components to facilitate and speed up the transfer or exchange of the tissue blocks 203 between any pair of the subsystems 904, 906 and 216. For example, the feeder transport subsystem 216 can include a pair of tissue block holding components. When exchanging tissue blocks 203 with subsystem 904 or subsystem 906, the feeder transport subsystem 216 can receive a first tissue block 203, from subsystem 904 or subsystem 906, at a first tissue block holding component and provide a second tissue block 203 to subsystem 904 or subsystem 906 from a second tissue block holding component.

[0312] The block holder 908 can be configured or structured to hold the tissue block 203 during the facing process and / or the sectioning process. The block holder 908 can be configured or structured to move along a direction, e.g., along z-axis, that is transverse or orthogonal to a cutting edge of a blade secured at a blade holder to cut sections of the tissue block 203 during the facing process or the sectioning process. As described in further detailbelow, the block holder 908 can be mechanically coupled to the microtome internal system 214.

[0313] As described above, the block pathway system 102 includes the subsystems 216, 904 and 906 for transporting tissue blocks 203 between the block storage subsystem 902, the chilling station 210 and / or the block holder 908. In general, the block pathway system 102 can include any number of robotic systems or subsystems for transporting or moving the tissue blocks 203. The robotic systems can include one or more gantries, one or more robotic arms and / or other types of systems or devices for carrying or transporting the tissue blocks 203.

[0314] Referring to FIG. 9C, the block pathway system includes a block storage system 201 configured to store a plurality of tissue blocks 203, a block transport subsystem that includes a block-blade robotic arm 261, and an exchange interface that includes a block exchange seat 274. The block-blade robotic arm 261 is configured to transport tissue blocks 203 between the block storage system 201, a code sensor 910, a chilling station 210, and a sectioning assembly. The block-blade robotic arm 261 includes a plurality of multiple block-blade carriers 3200 positioned at the toolhead, each configured to selectively engage with and secure a tissue block 203 during transport. The block-blade robotic arm 261 is actuated based on control signals to pick up, reposition, and release tissue blocks 203 at designated locations along the block pathway. The movement of the robotic arm 261 can be controlled based on sensor feedback from position encoders, force sensors, and / or imaging systems (e.g., code sensor 910). The chilling station 210 is positioned along the block pathway to receive tissue blocks 203 before sectioning. The chilling station 210 can include a thermally regulated surface or fluid bath to maintain a predetermined temperature range for the tissue block 203, affecting the hardness of the wax medium.

[0315] The block exchange seat 274 is configured to position tissue blocks 203 for transfer between different stages of the sectioning process. The block exchange seat 274 includes stabilization components such as clamps 275 and 276, which engage with the lateral surfaces of the tissue block 203 to maintain positional stability. The clamps 275 and 276 are actuated to apply a force distribution pattern across the surface of the tissue block 203, aligning the block relative to reference points on the block exchange seat 274. The self-centering mechanism of clamps 275 and 276 is configured to constrain the movement of the tissue block 203 within a defined tolerance range, aligning the block for engagement by the block-blade robotic arm 261. The processing circuits execute control sequences that determine clamping force values based on block material properties, thickness measurements, and transportparameters. The block exchange seat 274 can include a base structure with retention grooves or recesses configured to interface with different cassette designs.

[0316] The code sensor 910 is positioned to detect identification data associated with the tissue block 203 before processing. The code sensor 910 can include an optical sensor array, a laser-based scanning mechanism, or an imaging system that captures a digital representation of a barcode applied to the tissue block 203 or cassette structure. The scanner 910 transmits identification data to the processing circuits, which associate each tissue block 203 with corresponding sectioning parameters. The code sensor 910 can execute scanning operations while the tissue block 203 is positioned on the block exchange seat 274, eliminating the need for additional handling steps before barcode acquisition. The processing circuits can retrieve stored barcode data to verify block identity and apply workflow parameters corresponding to the detected barcode. The code sensor 910 can operate with a depth-of-field configuration that accounts for variations in barcode placement and block height.

[0317] The block pathway system integrates with the blade handling and liquid management subsystems for sectioning operations. The block-blade robotic arm 261 can coordinate movement sequences with the blade positioning assembly and section retrieval components to execute sectioning cycles. The clamps 272 and 273 engage with the block holder structure to apply a retention force that maintains the tissue block 203 in a fixed position relative to the blade pathway. The processing circuits generate control signals to synchronize block positioning with blade engagement and cutting force application. The chilling station 210 receives tissue blocks 203 before sectioning, adjusting thermal conditions through contact cooling surfaces or liquid immersion. The processing circuits execute control sequences that determine block transport timing based on sectioning cycle parameters, temperature stabilization requirements, and barcode scanning results. The block pathway system processes tissue blocks 203 through sequential handling stages, regulating movement between storage, chilling, scanning, and / or sectioning positions. In some implementations, the camera 970 can directed to the slide pickup area. The video and / or image of the camera970 can be used to perform quality control on the slide pickup. Additionally, the camera 971 can be directed to the cold water in front of the blade. The video and / or image of the camera971 can be used to detect section detachment from the blade (e.g., based on image segmentation or optical flow techniques), determine section float direction relative to the blade edge (e.g., using edge detection or motion tracking), monitor water surface conditions in front of the blade (e.g., turbulence, ripple patterns), and / or identify section adhesion to the blade edge (e.g., via contrast analysis between the blade and attached material).

[0318] The block-blade robotic arm subsystem 260 includes the block-blade robotic arm 261, which is configured to transport tissue blocks 203 between various processing stations within the block pathway system. The block-blade robotic arm 261 is actuated to retrieve tissue blocks 203 from the block storage system 201 and transport them to the block exchange seat 274, code sensor 910, chilling station 210, and / or sectioning assembly. The arm 261 includes multiple degrees of freedom, facilitating movement along translational and rotational axes to align the multiple block-blade carrier 3200 with designated pickup and drop-off locations. The block multiple block-blade carrier 3200 engage with the lateral surfaces of the tissue block 203, applying a retention force to stabilize the block during transport. The robotic arm 261 operates in coordination with processing circuits that generate control signals based on real-time feedback from position encoders, force sensors, and / or imaging systems. The processing circuits regulate movement speed, clamping force, and positioning accuracy to maintain alignment between the tissue block 203 and reference surfaces within the block pathway system.

[0319] The interaction between the block-blade robotic arm 261 and other components of the block pathway system can be synchronized through programmed motion sequences. When retrieving a tissue block 203 from the block storage system 201, the robotic arm 261 adjusts its position based on the detected location of the selected block. In some implementations, pre-tuned positions can be used by the block-blade robotic arm 261 to the determine the location of the block (e.g., at a pre-determined location). Upon reaching the block exchange seat 274, the robotic arm 261 lowers the multiple block-blade carrier 3200 to engage with the block and secure it within the clamps 275 and 276. In some implementations, the robotic arm 261 can facilitate movement with the code sensor 910, positioning the tissue block 203 within the scanning field for identification. If the block requires chilling before sectioning, the robotic arm 261 transports it to the chilling station 210, where it is held for a predefined duration. Once the block is ready for sectioning, the robotic arm 261 re-engages the block and transports it to the sectioning assembly. The processing circuits regulate movement timing and positioning accuracy, ensuring the tissue block 203 is delivered to each station with minimal deviation from predefined alignment parameters. The robotic arm 261 can execute repeated transport sequences, cycling through multiple blocks in succession while synchronizing with barcode scanning, chilling, and sectioning operations.

[0320] In some implementations, if the code sensor 910 scans the tissue block 203 while the robotic arm 261 is engaged and / or in a free state (e.g., not actively transporting or positioning a tissue block 203 within another processing station), the system can store the identificationdata and bypass a redundant scan during subsequent processing stages. The robotic arm 261 can retrieve the tissue block 203 from the block storage system 201, position it within the scanning field of the code sensor 910, and then return the tissue block 203 to the block storage system 201. The processing circuits can store the scanned identification data and associate it with sectioning parameters, reducing processing time during subsequent facing or sectioning operations. When the tissue block 203 is later retrieved for sectioning and / or facing, the system can reference the stored barcode data instead of performing an additional scan. The processing circuits can determine whether a re-scan is necessary based on conditions such as barcode recognition confidence, prior movement of the tissue block 203, or environmental factors affecting scan accuracy. In some implementations, the processing circuits can execute a verification step before sectioning by comparing the stored identification data with realtime block tracking data, confirming the tissue block 203 identity without requiring an additional scan.

[0321] Referring to FIG. 9C (continued), the block pathway system further includes a block storage subsystem 902 configured to store a plurality of tissue blocks 203 in a predefined arrangement. The block-blade robotic arm 261 can retrieve a tissue block 203 from the block storage subsystem 902 using the multiple block-blade carrier 3200 positioned at the toolhead. The robotic arm 261 moves the carrier 3200 into alignment with the designated slot of the storage subsystem 902, applies a lateral clamping force to secure the tissue block 203, and extracts the block from the storage position. The robotic arm 261 then actuates along one or more axes to transport the tissue block 203 to the block exchange seat 274, which includes stabilization clamps 275 and 276. The arm 261 lowers the carrier 3200 to position the tissue block 203 within the clamping area of the block exchange seat 274. Once engaged, the clamps 275 and 276 are actuated to apply a retention force across opposing surfaces of the block, securing it in position. The block-blade robotic arm 261 can then disengage and proceed to another retrieval or delivery operation. A camera 278 is positioned to capture an image of the tissue block 203 while it is held in the block exchange seat 274. The image data can be analyzed for block positioning, integrity, or tracking, and transmitted to the processing circuits for storage or processing.

[0322] In another portion of the system, the block holder 908 can retain a tissue block 203 during a sectioning operation. The block-blade robotic arm 261 positions the tissue block 203 onto the block holder 908 after completing a chilling stage at the chilling station 210. During this step, the robotic arm 261 aligns the multiple block-blade carrier 3200 with the holder 908 and actuates to release the tissue block 203 into the mounting slot. Camera 1704 is includessimilar features and functionality as camera 971. Camera 1706 can be directed toward the holder 908, capturing video or still images. The data from camera 1706 can be analyzed. The robotic arm 261 synchronizes transport operations with blade robotic arm movements, such as positioning a blade for cutting or retrieving cut sections using a downstream mechanism. The block-blade robotic arm 261 continues cycling through tissue blocks 203, coordinating movement with the block storage subsystem 902, block exchange seat 274, code sensor 910, and sectioning assembly, while cameras 278, 1704, and 1706 provide real-time imaging data for process monitoring and feedback control.

[0323] Referring now to FIGS. 10A-10F, various aspects of the block storage subsystem 902 are depicted, according to an example implementation of the current disclosure. In particular, FIG. 10A is a diagram of the block storage subsystem 902, according to an example implementation of the current disclosure. FIG. 10B depicts a diagram of a block storage tray 1000 of the block storage subsystem 902, according to an example implementation of the current disclosure. FIG. 10C shows a sequence of images depicting loading of the block storage tray 1000 into the microtomy system 100, according to an example implementation of the current disclosure. FIG. 10D shows additional views of the block storage subsystem 902, according to an example implementation of the current disclosure. FIG. 10E shows a sequence of images depicting a mechanism of detecting the block storage tray 1000 loaded in the microtomy system 100, according to an example implementation of the current disclosure. FIG. 10F shows a sequence of images depicting unloading of the block storage tray 1000 from the microtomy system 100, according to an example implementation of the current disclosure.

[0324] Referring now to FIGS. 10A and 10B, the block storage subsystem 902 can include the block storage tray 1000 and a base system 1050. The block storage tray 1000 can be referred to herein as tray or storage device. The base system 1050 is structured, designed or configured to host, accommodate or secure the block storage tray 1000 when loaded to the microtomy system 100. The block storage tray 1000 can be unloaded and / or loaded into the microtomy system 100 through the block loading bay 602. The block storage tray 1000 can be structured, designed or configured to store or host a plurality of tissue block 203. The tissue blocks 203 can be loaded into the block storage subsystem 902 by a user placing the tissue blocks 203 into the block storage tray 1000. The block storage tray 1000 can be arranged, kept or maintained in a horizontal position in the block storage subsystem 902.

[0325] The block storage tray 1000 can include a structure 1001 having a plurality of storage slots 1003 for storing the tissue blocks 203 and a base layer 1005. Each storage slot 1003 canbe structured, designed or configured to store or accommodate a single tissue block 203. The base layer 1005 can be arranged beneath the structure 1001. The base layer 1005 can have a bottom surface 1007 and a top surface 1009. The block storage tray 1000 can include or the respective base layer 1005 can include one or more guiding elements 1002, one or more magnets 1004 and / or one or more kinematic coupling elements 1006 arranged at the bottom surface 1007 of the base layer 1005. The block storage tray 1000 can include a handle 1008 to manually pull or push the block storage tray 1000 from / in the microtomy system 100.

[0326] The base system 1050 can include a base plate 1010 to host, support and / or receive the block storage tray 1000. The base plate 1010 can include one or more guiding elements 1012, one or more magnets 1014 and / or one or more kinematic coupling elements 1016. The base system 1050 can include a sensor 1018 to detect the block storage tray 1000 when arranged in an operational position, also referred to herein as a loaded position. The base system 1050 can include side walls 1020 arranged along sides of the base plate 1010 and one or more hard stop structures 1022 positioned at an end of the base plate 1010. The block storage tray 1000 can include a sensor trigger 1024 to trigger the sensor 1018. The sensor 1018 can operate as or can be referred to herein as an optical sensor.

[0327] The block storage tray 1000 can be designed, arranged, structured or configured to house a plurality of tissue blocks 203. Each storage slot 1003 can store or host a separate tissue block 203. In some implementations, the storage slots 1003 can be arranged in rows and columns. The block storage tray 1000 can include 30 storage slots 1003, e.g., arranged in six rows with each row including five respective storage slots 1003. The storage slots 1003 can be arranged, designed or configured to align the tissue blocks 203 according to a defined alignment or arrangement to facilitate automated pick up and / or release of the tissue blocks 203. As described in further detail below, alignment errors can be addressed or compensated by a self-centering mechanism of a block carrier of the block I / O subsystem 904.

[0328] The storage slots 1003 can be designed, arranged, structured or configured to store the tissue blocks 203 at an incline angle. Each tissue block 203 when placed in a corresponding storage slot 1003 can be positioned or oriented according to the incline angle with the surface 308 facing upward. The incline angle can be about 50 degrees relative to a horizontal plane, e.g., surface 1007 or 1009 of the block storage tray 1000. The incline angle allows for easy dropping or release of the tissue blocks 203 into the storage slots 1003 by a user and / or a robotic block carrier. The incline angle also allows optimizing the space within the block storage tray 1000. The incline can also help keep the tissue blocks 203 stabilized within the storage slots 1003. Furthermore, allowing the surfaces 308 of the tissue block 203 to faceupward allows for traceability of the tissue block 203 via the barcodes 310. In some implementations, the incline angle can be about 20 degrees to about 70 degrees relative to the horizontal plane of the block storage tray 1000. In some implementations, the incline angle can be about 30 degrees to about 60 degrees relative to the horizontal plane of the block storage tray 1000.

[0329] The guiding element(s) 1002 arranged at the surface 1007 of the block storage tray 1000 and the guiding element(s) 1012 arranged on the base plate 1010 can guide the block storage tray 1000 into the operational position on the base plate 1010. For example, the guiding element(s) 1002 can include one or more curved protrusions protruding from the upper surface of the base plate 1010 while the guiding element(s) 1002 can include one or more curved recesses in the surface 1007 of the block storage tray 1000. The base plate 1010 can slide on the guiding element(s) 1012, e.g., until the protrusion(s) 1012 coincide with and move in, at least partially, in the recess(es) 1002.

[0330] The kinematic coupling elements 1006 at the surface 1007 of the base layer 1005 and the kinematic coupling elements 1016 at the upper surface of the base plate 1010 can align the block storage tray 1000 with the base plate 1010. In some implementations, the kinematic coupling element(s) 1016 can include cone shaped protrusion(s) and the kinematic coupling element(s) 1006 can include V-shaped groove(s). In some implementations, the kinematic coupling element(s) 1006 can include one or more grooves with respective flat bottom surface(s) and the kinematic coupling element(s) 1016 can include one or more protrusions with respective flat top surface(s). When the block storage tray 1000 is positioned in the operational position, the kinematic coupling elements 1016 can coincide or overlap with the kinematic coupling elements 1006.

[0331] The magnets 1004 and 1014 can magnetically couple the block storage tray 1000 to the base plate 1010. In particular, when the block storage tray 1000 is positioned in the operational position, the magnets 1004 at the surface 1007 can coincide or overlap with the magnets 1014 at the upper or top surface of the base plate 1010 leading to magnetic coupling between the magnet(s) 1004 and the magnet(s) 1014. The magnetic coupling can secure the block storage tray 1000 to the base plate 1010 or the base system 1050.

[0332] Referring now to FIG. 10C, the sequence of images (i)-(iii) illustrate loading of the block storage tray 1000, according to an example implementation of the current disclosure. The user or operator of the microtomy system 100 can load the block storage tray 1000 with tissue blocks 203 and push the block storage tray 1000 via the handle 1008 in the microtomy system 100. The user or operator can push the block storage tray 1000 through the blockloading bay 602. The block storage tray 1000 can slide on the guiding element(s) 1012 and / or the kinematic coupling element(s) 1016 until the block storage tray 1000 reaches the operational position.

[0333] The side walls 1020 prevent the block storage tray 1000 from derailing off the base plate 1010. In other words, the side walls 1020 can provide additional protection and / or safety for the block storage tray 1000 when pushed in or pulled out of the microtomy system 100. The hard stop structure(s) 1022 can prevent the block storage tray 1000 from moving beyond a defined limit along a dimension, e.g., length, of the base plate 1010. For example, the hard stop structure(s) 1022 can prevent the block storage tray 1000 from bumping into and damaging the sensor 1018.

[0334] As depicted in FIGS. 10B and 10D, the base layer 1005 of the block storage tray 1000 can include a sloped region 1026 at the bottom surface 1007. The sloped region 1026 can be arranged at a first end of the block storage tray 1000 opposite to another end associated with the handle 1008. The sloped region 1026 can be referred to herein as angled region 1026. The sloped region 1026 facilitates movement of the block storage tray 1000 onto the guiding element(s) 1012 and / or the kinematic coupling element(s) 1016 when pushed into the microtomy system 100. In other words, the sloped region 1026 facilitates movement of the block storage tray 1000 onto any protrusions or bumps, e.g., the guiding element(s) 1012 and / or the kinematic coupling element(s) 1016, to slide thereon.

[0335] Referring now to FIG. 10E, images (i) and (ii) depict a process of detecting the block storage tray 1000 to be in the operational position, according to an example implementation of the current disclosure. In image (i), the block storage tray 1000 is moving towards the operational position while in image (ii) the block storage tray 1000 is at the operational position. The sensor 1018 can be a position sensor, such as an optical sensor. As the block storage tray 1000 approaches the operational position, the sensor trigger 1024 can interfere with a light beam emitted by the sensor 1018 and trigger the sensor 1018 to indicate presence of the block storage tray 1000 at the operational position. The sensor 1018 can send a signal to the processor 112 to indicate that the block storage tray 1000 is in the operational position. In some implementations, the sensor 1018 can send a signal to the processor 112 to indicate that the block storage tray 1000 is not in the operational position, e.g., when the block storage tray 1000 is pulled out for reloading with new tissue blocks. The processor 112 can halt automated operations within the microtomy system 100 when the block storage tray 1000 is not in the operational position. In some implementations, the sensor 1018 can provide anindication, e.g., on display device 508 or via light indicator, to the user that the block storage tray 1000 is at the operational position.

[0336] Referring now to FIG. 10F, the sequence of images (i)-(iv) depicts a process of unloading the block storage tray 1000, according to an example implementation of the current disclosure. The user of the microtomy system 100 can pull the block storage tray 1000 via the handle 1008 out of the block loading bay 602. When pulled via the handle 1008, the block storage tray 1000 can slide on the guiding element(s) 1012 and / or the kinematic coupling element(s) 1016. When the block storage tray 1000 is out of the microtomy system 100, the user can unload the block storage tray 1000 from processed tissue blocks 203 and load the block storage tray 1000 with new tissue blocks 203.

[0337] FIGS. 11 A-l IE depict a perspective view of the block I / O subsystem 904 and various perspective views of a block carrier, according to an example implementation of the current disclosure. FIG. 11 A shows a perspective view of the block I / O subsystem 904, according to an example implementation of the current disclosure. FIG. 1 IB depicts perspective views of block carrier 1102 of the block VO subsystem 904, illustrating a block gripping process, according to an example implementation of the current disclosure. FIGS. 11C-11E depicts other aspects of the block carrier 1102, according to an example implementation of the current disclosure. In brief overview, the block I / O subsystem 904 can include a block carrier 1102, a multi-axis gantry 1104, motors 1106, 1108 and 1110 and the code sensor 910.

[0338] The block carrier 1102 can be referred to herein as tissue block carrier 1102, block gripper 1102 or tissue block gripper 1102. The block carrier 1102 can be structured or configured to pick up and release tissue blocks 203 from and into the block storage subsystem 902. The multi-axis gantry 1104 can be structured or configured to facilitate movement of the block carrier 1102 along various axes. The multi-axis gantry 1104 can facilitate movement of the block carrier 1102 along three different orthogonal axes, e.g., x-axis, y-axis and z-axis. The gantry 1104 can allow horizontal motion of the block carrier 1102 along the x-axis and / or the y-axis and vertical motion along the z-axis.

[0339] Motor 1106 can drive motion of the block carrier 1102 along the x-axis. Motor 1108 can drive motion of the block carrier 1102 along the y-axis. Motor 1110 can drive motion of the block carrier 1102 along the z-axis. The processor 112 or trigger or actuate the motors 1106, 1108 and / or 1110 to pick up or release a tissue block 203 from or at a given storage slot 1003 of the block storage subsystem 902. For example, the processor 112 can cause the motors 1106 and 1108 to drive horizontal motion of the block carrier 1102 to align the block carrier 1102 with a storage slot 1003 or a tissue block therein. During tissue block pickup, thecode sensor 910 can read the block identifier 310 on the surface 308 of the tissue block 203 in the storage slot 1003 with which the block carrier 1102 is aligned. The processor 112 can cause the motor 1110 to drive vertical motion of the block carrier 1102 to bring the block carrier 1102 towards the storage slot 1003 or the tissue block 203 therein. Once the tissue block 203 is picked up or released in the block storage subsystem 902, the processor 112 can cause the motor 1110 to drive vertical motion of the block carrier 1102 to bring the block carrier 1102 away from the storage slot 1003. In some implementations, at least one of the motors 1106, 1108 or 1110 can include a servo motor. In some implementations, the code sensor 910 can read the block identifier 310 on the surface 308 of the tissue block 203 before the block carrier 1102 picks up the tissue block 203. In some implementations, the code sensor 910 can read the block identifier 310 on the surface 308 of the tissue block 203 after the block carrier 1102 picks up the tissue block 203.

[0340] The code sensor 910 can identify the tissue block 203 by scanning, reading and / or sensing the respective block identifier 310 or other identification information. The block identifier 310 or related information can be indicative of a patient associated with the tissue block 203. The code sensor 910 can send an indication of the block identifier 310 to the processor 112 and the processor 112 can use the received indication to associate slides carrying sections cut from the tissue block 203 with the tissue block 203 or the corresponding patient.

[0341] Referring now to FIG. 1 IB, images (i) and (ii) depict two perspective views of the block carrier 1102 illustrating gripping of tissue block 203, according to an example implementation of the current disclosure. In brief overview, the block carrier 1102 can include a pair of gripping members 1112a and 1112b, a rack and pinion system 1113 and a motor 1115. The gripping members 1112a and 1112b can be referred to herein, either individually or in combination as gripping member(s), jaw(s), jaw member(s) or arm(s). The rack and pinion system 1113 can include a pair or rack elements 1116a and 1116b and a pinion 1118. The rack elements 1116a and 1116b can be referred to herein individually or in combination as rack element(s) 1116. The block carrier 1102 may include a position sensor 1120 and a sensor trigger 1122.

[0342] The gripping members 1112 can be structured, arranged or configured to move in opposite directions with respect to one another in order to pick up or release a tissue block 203. For example, the gripping members 1112 can move towards each other when gripping or picking up the tissue block 203 and can move away from each other when un-gripping or releasing the tissue block 203. Movement of the rack elements 1116 can be driven by themotor 1115. The motor 1115 may be a servo motor. The pinion 1118 can be mechanically coupled to a shaft of the motor 1115. The motor 1115 when actuated, e.g., by processor 112, can cause the pinion to rotate. The pinion 1118 can be mechanically coupled to both rack elements 1116. Rack element 1116a can be mechanically coupled to gripping member 1112a and rack element 1116b can be mechanically coupled to gripping member 1112b. Rotation of the pinion 1118 can cause linear motion of both rack elements 1116, which in turn can cause movement of both gripping elements 1112. Depending on the direction of rotation of the pinion 1118, the gripping members 1112 can move away from one another or towards each other.

[0343] The rack and pinion system 1113 can provide or allow a self-centering mechanism with respect to movement of the gripping members 1112. When the pinion 1118 rotates, the two rack elements 1116 as well as the two gripping members 1112 move by equal linear distances, in opposing directions. In other words, rotation of the pinion 1118 can cause both gripping members 1112 to move synchronously towards or away from an axis of pinion 1118. During the gripping process, the gripping members 1112 can align a centerline of the tissue block 203 with the axis of the pinion 1118 or of the shaft of the motor 1115.

[0344] The self-centering mechanism has various technical benefits. For example, the storage slots 1003 can have clearances or small variations in the respective dimensions. As such, the position of a tissue block within the corresponding storage slot 1003 may be subject to some small variation. The self-centering mechanism allows for gripping or picking up the tissue block 203 without accurate knowledge of the position of the tissue block 203. Also, when exchanging the tissue block 203 between the block I / O subsystem 904 and the feeder transport subsystem 216, the self-centering mechanism facilitates reliable transfer of the tissue block 203 even with some potential uncertainty with regard to the accurate position of the tissue block 203. Furthermore, the self-centering mechanism facilitates the block carrier 1102 to accommodate tissue blocks of different sizes as well as tolerate some error in the position of the tissue block 203 to be picked up. In addition, the block carrier 1102 can act as a locating agent. In general, the gripping members 1112 can be positioned apart from one another by distance wider than an expected width of the tissue block 203 before gripping the tissue block 203. The gripping members 1112 can then move towards each other until the blade carrier 1301 has a grip on the tissue block 203 and the tissue block 203 is centered between the gripping members 1112. As such, the gripping members 1112 can provide precise and repeatable positioning of the tissue block in at least the x-y plane.

[0345] Image (i) depicts a scenario where the gripping members 1112 are moving towards the tissue block 203. Image (ii) depicts a scenario where the gripping members 1112 have a grip on the tissue block 203. Once the block carrier 1202 is positioned such that the tissue block 203 is located between the gripping members 1112, the gripping members 1112 can move towards each other until the gripping members 1112 have a grip on the tissue block 203.

[0346] The block carrier 1102 can include the position sensor 1120 and the trigger sensor 1122 to detect potential absence of the tissue block 203 to be picked up by the block carrier 1102. If the tissue block 203 to be picked up or gripped is absent, the sensor 1120 can send a signal to the processor 112 indicative of the absence of the tissue block 203. The processor 112 can display an error message on the display device 508 and / or take some other action responsive to the signal received from the processor 112. Such action can include halting automated processes within the microtomy system 100 to allow the user to check the block storage tray 1000, moving the block carrier 1102 towards another storage slot 1003 to pick up another tissue block, take image of the block storage tray 1000 to be displayed on the display device 508 and / or some other action.

[0347] The sensor 1120 and the sensor trigger 1122 can be associated with a gripping member 1112 or a corresponding rack element 1116. For example, the sensor trigger 1122 can be mechanically coupled to, or part of, the rack element 1116a and / or the triggering member 1112. The sensor trigger 1122 can move with the rack element 1116a or the corresponding gripping member 1112a. The sensor 1120 can be an optical sensor. As the sensor trigger 1122 moves towards the sensor 1120, the sensor trigger 1122 can interfere or block a beam of light emitted by the sensor 1120 and in response trigger the sensor 1120. In particular, the sensor 1120 can be positioned such that the sensor trigger 1122 triggers the sensor 1120 when the distance between both triggering members 1112 is smaller than or equal to a defined distance. The defined distance can be smaller than an expected width of the tissue block. In other words, the sensor 1120 can be triggered when the distance between the gripping members 1112 gets smaller than the expected width of the tissue block 203, which indicates that there is no tissue block 203 between the gripping members 1112.

[0348] The sensing or detection performed by the sensor 1120 and the sensor trigger 1122 can be referred to as associative sensing. In other words, the sensor 1120 does not directly detect or sense the presence or absence of the tissue block 203. Instead, the sensor 1120 can detect a position of a rack element 1116 or a position of a gripping member 1112. The absence or presence of the tissue block 203 can be inferred based on the detected or sensed positionof the rack element 1116 or the gripping member 1112. Detecting the presence or absence of the tissue block allows the sensor 1120 and / or the processor 112 to initiate or trigger proper action. For example, upon detecting the absence of a tissue block that is expected to be present, e.g., at storage slot 1003 or during a block transfer procedure between different robotic systems, the processor sensor 1120 can send an error code or error signal to the processor 112 to take a corrective action.

[0349] Referring now to FIG. 11C, a front view and a side view of the block carrier 1102 are shown, according to an example implementation of the current disclosure. The block carrier 1102 can be tuned or calibrated for proper operation within the microtomy system 100. For example, an orientation of the block carrier 1102, e.g., relative to a horizontal plane or surface of the block I / O subsystem 904. In particular, an orientation angle CE± of the block carrier 1102 can be set, e.g., manually by a user, to an angle approximately equal to the orientation or inclination angle of the storage slots 1003 or the tissue blocks 203 placed therein. For example, the orientation angle CE± of the block carrier 1102 can be set to about 50 degrees. Also, a position of the block carrier 1102 along a linear axis can be manually calibrated, tuned or set. The set position can be used as a reference or default position of block carrier 1102 along the linear axis within the microtomy system 100. The position of the block carrier 1102 along the linear axis can be set to properly align the block carrier 1102 with the block storage tray 1000. The calibration or tuning of the angular and linear positions of the block carrier 1102 facilitates the use of the block carrier 1102 to locate tissue blocks 203 within the block storage subsystem 902 or during exchange of the tissue block 203 between the block I / O subsystem 904 and other robotic subsystem(s).

[0350] Referring to FIG. 1 ID, two other views of the block carrier 1102 are shown, according to an example implementation of the current disclosure. The block carrier 1102 can include a magnetic latching mechanism or a magnetic detent structured, designed or configured to actuate at outermost positions of the gripping members 1112. In other words, the magnetic latching can be triggered when the distance between the gripping members 1112 is at its maximum. In the event of a power failure, if the gripping members 1112 are at their extreme outermost position (un-gripped state), the magnetic coupling will maintain the gripping members 1112 at their outermost positions. The block carrier 1102 can include a magnet 1126 and a member 1128 capable of magnetically coupling to the magnet 1126. The member 1128 can be a metal member or can include a metal region or another magnet configured to magnetically couple with the magnet 1126. The member 1128 can be mechanically coupled to a gripping member 1112 or a corresponding rack element 1116. For example, the member1128 can be mechanically coupled to rack element 1116a or gripping member 1112a. When gripping member 1112a, or the rack element 1116a, reaches its outermost position, the member 1128 can come in contact with and magnetically couple to the magnet 1126.

[0351] Referring now to FIG. HE, another perspective view of the block carrier 1102 is shown, according to an example implementation of the current disclosure. The block carrier 1102 can employ spring-based gripping to pick up tissue blocks 203. For example, the block carrier 1102 can include one or more springs 1130 mechanically coupled to the gripping members 1112 and / or the rack members 1116. In some implementations, the block carrier 1102 can include two springs 1130 that are mounted on the 1102 such that the two springs 1130 are mechanically restrained between the 1116 and body of 1102. The two springs can exert opposing forces on both rack members 1116 and subsequently causing the members 1112 to move towards each other synchronously. The use of the spring(s) 1130 allows the forces to remain controlled and factory calibrated. Advantages of using the spring(s) 1130 include avoiding using complex control systems, e.g., for precise positioning of tissue blocks 203, extending motor life and maintaining the gripped state in power failure conditions. The motor 1115 can be used for un-gripping or releasing the tissue block 203 while the spring(s) 1130 can be used for gripping the tissue block 203. Maintaining the gripped state in power failure conditions prevents damage to the tissue block 203. In particular, by using the spring(s) 1130 as the source of the gripping force(s), the block carrier 1102 keeps holding and does not drop the tissue block 203 during power failure. In some implementations, the spring force can be deliberately kept lower than the magnetic force produced by the magnet 1126. As such, the spring force does overcome the magnetic force and the gripping members 1112 can stay in their outermost positions in the case of power failure.

[0352] In some implementations, the block carrier 1102 can include a coupling / decoupling mechanism to couple or decouple the motor to or from the pinion 1118. For example, a shaft of the motor 1115 can be arranged, structured or configured to retract and disengage from the pinion 1118 during gripping when the gripping elements 1112 can be driven by the spring(s) 1130. During un-gripping, the motor 1115 or the respective shaft can engage the pinion and the motor 1115 can actuate motion of the gripping members 1112. The decoupling of the motor 1115 or the respective shaft from the pinion 1118 allows for the spring(s) 1130 to be used as the primary gripping force provider. The decoupling of the motor 1115 also allows to implement the associative sensing of the tissue block 203 as discussed above.

[0353] FIGS. 12A-12E depict various views of the block transport subsystem 906 and components thereof, according to an example implementation of the current disclosure. FIG.12A depicts two perspective views of the block transport subsystem 906, according to an example implementation of the current disclosure. The block transport subsystem 906 can be structured, arranged or configured to transport tissue blocks 203 between the block I / O subsystem 904 and the feeder transport subsystem 216. The block transport subsystem 906 can have two stop stations, also referred to herein as gripping stations or block exchange stations. The block transport subsystem 906 can include a gantry 1201 and a block carrier 1202. The block carrier 1202 can be a dual-block carrier having or including two slots or two carriers to receive or host two separate tissue blocks 203. In some implementations, the block carrier 1202 can be a multi -block carrier. Each slot or carrier of the block carrier 1202 can include a respective mechanism to secure a tissue block therein.

[0354] The block carrier 1202 can be mechanically coupled to the gantry 1201. The gantry1201 can be structured or configured to facilitate translational motion of the block carrier1202 along at least one axis; a horizontal axis 1204 and / or a vertical axis 1206. The horizontal axis 1204 can be referred to as the y-axis 1204 and the vertical axis 1206 can be referred to as the z-axis 1206. The gantry 1201, also referred to herein as block transport gantry, can be structured or configured to facilitate rotational motion of the block carrier 1202 around a second horizontal axis 1208. The second horizontal axis 1208 can be referred to herein as the x-axis 1208. The two stations of the block transport subsystem 906 can be associated with two limits of the translational motion of the block carrier 1202 along the y-axis 1204. At a first block exchange station, the block carrier 1202 can swap or exchange tissue blocks 203 with the block carrier 1102. At the second block exchange station, the block carrier 1202 can swap or exchange tissue blocks 203 with the feeder transport subsystem 216.

[0355] When exchanging tissue blocks 203 with the feeder transport subsystem 216, the dual -block carrier 1202 can receive at a respective first slot or carrier a faced or sectioned tissue block. The feeder transport subsystem 216 can obtain the faced or sectioned tissue block from the block holder 908. The dual-block carrier 1202 can carry a second tissue block 203 in the respective second slot or carrier and can provide the second tissue block 203 to the feeder transport subsystem 216 for facing, chilling or sectioning. The two slots or carriers can be located arranged or positioned at opposite sides of the block carrier 1202. The block carrier 1202 can rotate, e.g., by 180 degrees, after receiving the faced or sectioned tissue block in order to deliver the respective second tissue block 203 to the feeder transport subsystem 216.

[0356] When exchanging tissue blocks 203 with the block carrier 1102 of the block VO subsystem 904, the dual-block carrier 1202 can receive at the respective second slot or carrier a tissue block 203 to be faced, chilled or sectioned. The block carrier 1102 can obtain thetissue block 203 from the block storage subsystem 902. The block carrier 1202 can rotate, e.g., by 180 degrees around the axis 1208, after receiving the tissue block 203 from the block carrier 1102. The dual-block carrier 1202 can then provide the faced or sectioned tissue block received the feeder transport subsystem 216 to the block carrier 1102 for placing in the block storage subsystem 902 or the in a slot 1003 of the block storage tray 1000.

[0357] FIGS. 12B-12D depict various views of the dual -block carrier 1202, according to example implementation of the current disclosure. The dual-block carrier 1202 can include fixed jaws 1210a and 1210b, moving jaws 1212a and 1212b operatively coupled to the fixed jaws 1210a and 1210b, respectively, block resting plates 1214a and 1214b, cams 1216a and 1216b, followers 1218a and 1218b, detection sensors 1220a and 1220b, motors 1222a and 1222b and springs 1224a and 1224b. A block carrier 1203a can include the fixed jaw 1210a, the moving jaw 1212a, the block resting plate 1214a, the cam 1216a, the follower 1218a, the motor 1222a and the spring 1224a. A second block carrier 1203b can include the fixed jaw 1210b, the moving jaw 1212b, the block resting plate 1214b, the cam 1216b, the follower 1218b, the motor 1222b and the spring 1224b. in some implementations, the dual block carrier 1202 can be viewed as two block carriers 1203a and 1203b assembled as a single device configured or structured to carry two separate tissue blocks 203. Components associated with a single block carrier of the block carriers 1203a and 1203b can be referenced herein using corresponding numerals but without the letters “a” or “b ” The stationary or fixed jaw(s) 1210 and can be referred to herein as stationary or fixed arm(s) 1210. The moving jaw(s) 1212 can be referred to herein as moving arm(s) 1212.

[0358] For each of the block carriers 1203a and 1203b, the corresponding fixed jaw 1210 and corresponding moving jaw 1212 can be configured, structured or arranged to hold or secure the tissue block 203 to the block carrier. Once the tissue block 203 is placed or positioned between the fixed jaw 1210 and the moving jaw 1212, the moving jaw 1212 can move towards the fixed jaw 1210 in order to hold, secure or clamp the tissue block 203 between the two jaws 1210 and 1212. An actuator can cause or trigger the moving jaw 1212 to move towards the fixed jaw 1210 in order to secure, clamp or grip the tissue block 203.

[0359] In some implementations, the spring 1224 can drive motion of the moving jaw 1212 towards the fixed jaw 1210 during the gripping process. The spring 1224 can be mechanically coupled to a stationary or fixed region or member of the block carrier 1202 at one end and mechanically coupled to the moving jaw 1212 at another end. The spring 1224 can be arranged or configured to exert a force on the moving jaw that is pointing towards the stationary or fixed jaw 1210. The spring 1224 can be selected, structured or configured suchthat the force exerted by the spring 1224 is within a defined range or equal to a defined value. For example, the spring constant and / or the spring length can be selected or defined to ensure that the force exerted by the spring 1224 is large enough to grip, secure or clamp the tissue block 203 between the jaws 1210 and 1212 but small enough to avoid damage to the tissue block 203.

[0360] The block resting plate 1214 can be disposed between the fixed jaw 1210 and the moving jaw 1212. The tissue block 203, when placed between the fixed jaw 1210 and the moving jaw 1212, can rest on the resting plate 1214. As such, the tissue block 203 can be secured between the jaws 1210 and 1212 as well as the resting plate 1214. The resting plate 1214 and the jaws 1210 and 1212 can be viewed as forming a slot 1226 for receiving the tissue block 203. The cassette 306 of the tissue block 203 can rest against the resting plate 1214 when the tissue block 203 is placed in the slot 1226, while the wax block 304 can face outward relative to the slot 1226.

[0361] The motor 1222 can actuate rotation of the cam 1216. The follower 1218 can be mechanically coupled to the cam 1216. As the cam 1216 rotates, the cam 1216 can cause the follower 1218 to move in a linear motion and push the moving jaw 1212 away from the fixed jaw 1210 to un-grip the tissue block 203. In some implementations, the moving jaw 1212 can be mounted on a linear block. The follower 1218 may be configured to push the linear block causing the moving jaw 1212 to move away from the stationary jaw 1210. The process of the follower 1218 moving with the cam 1216 can herein be referred to as reciprocating motion. In some implementations, the force generated by the motor(s) 1222 and exerted on the moving jaw 1212 can be large enough to overcome the opposite force exerted by the spring 1224 and cause the moving jaw 1212 to move away from the stationary jaw 1210.

[0362] The carriers 1203a and 1203b can be individually actuated or operated. The motor 1222a and / or the spring 1224a can operate or actuate the carrier 1203a or the slot 1226a, while the motor 1222b and / or the spring 1224b can actuate or operate the carrier 1203b or the slot 1226b. The motors 1222a and 1222b can be triggered independently to actuate the carriers 1203a and 1203b, respectively.

[0363] In some implementations, the carrier 1203 can be structured or configured to mechanically decouple the motor 1222 or a respective shaft from the cam 1216 and / or the follower 1218 during the gripping process. In other words, the carrier 1203 can be structured or configured to mechanically decouple the motor 1222 or a respective shaft during the gripping process from the pushing mechanism configured or structured to push away the moving jaw 1212. The mechanical decoupling can cause the moving jaw 1212 to be drivensolely or mainly by the spring 1224 during the gripping process. Mechanically decoupling the motor 1222 from the pushing mechanism and relying on a spring-based gripping allows or facilitates self-alignment of the tissue block 203. Also, mechanically decoupling the motor 1222 from the pushing mechanism facilitates the carrier 1203 to tolerate variations in tissue block size and / or variations in tissue block positioning within the slot 1226.

[0364] In some implementations, the fixed jaw 1210 and the moving jaw 1212 can be tapered to reliably secure or clamp the tissue block 203, as seen in FIG. 12D. The tapering or the inclined surfaces of the fixed jaw 1210 and the moving jaw 1212 can be arranged to point towards the center of the slot 1226. In other words, the tapering or the inclined surfaces of the fixed jaw 1210 and the moving jaw 1212 can be arranged such that a dimension, e.g., the length, of the slot 1226 increases at the bottom of the slot 1226 towards the block resting plate 1214 and decreases when moving away from the block resting plate 1214. The tapering or the inclined surfaces of the fixed jaw 1210 and the moving jaw 1212 provide a good grip of the tissue block in the slot 1226 and prevent the tissue block 203 from slipping or falling off the slot 1226.

[0365] In some implementations, the detection sensor 1220 can be configured, structured and / or positioned to detect or sense presence of the tissue block 203 within the slot 1226. In some implementations, the detection sensor 1220 can include or can be an IR sensor. In some implementations, the detection sensor 1220 can be fixed or stationary and a probe mechanically coupled to the moving jaw 1212 can trigger the detection sensor 1220 when the moving jaw 1212 reaches a defined position. For example, the probe can trigger the detection sensor 1220 if the moving jaw 1212 is at a distance from the fixed jaw 1210 smaller than the length of the tissue block 203, which indicates that there is no tissue block in the slot 1226. In some implementations, the detection sensor 1220 can be configured to transmit a light beam (or some other signal) across the slot 1226 such that the tissue block 203, when placed in the slot 1226 interferes or interrupts the transmitted beam or signal and trigger the sensor 1220.

[0366] FIG. 12E depicts a dual block carrier assembly 1205, according to an example implementation of the current disclosure. The dual block carrier assembly 1205 can include the dual block carrier 1202, a rotary shaft 1228 and a motor 1230 to drive rotation of the rotary shaft 1228 and the dual block carrier 1202. The dual block carrier 1202 can be mechanically coupled to the rotary shaft 1228. The rotary shaft 1228 can be coupled to and driven by the motor 1230. In some implementations, the rotary shaft 1228 can be mechanically coupled to the motor 1230 via a belt 1232. The use of the belt 1232 allows forspace optimization or reduction of the space occupied by the dual block carrier assembly 1205. In some implementations, the mechanism for rotating the dual block carrier 1202 can allow for belt tightening and manual tuning of the position of the dual block carrier 1202 along a linear axis 1234 aligned with or parallel to the longitudinal axis of the shaft 1228. The belt tightening and / or the manual tuning of the position of the dual block carrier 1202 along the linear axis 1234 facilitates accurate positioning of the dual block carrier 1202 above the chilling station 210.

[0367] The block transport subsystem 906 can be configured and / or structured to rotate the dual block carrier 1202 during exchange of tissue blocks 203 between the block transport subsystem 906 and block I / O subsystem 904, exchange of tissue blocks between the block transport subsystem 906 and feeder transport subsystem 216, retrieving a tissue block 203 from the chilling station 210 and / or placing a tissue block 203 in the chilling station 210. For example, the processor 112 can trigger or instruct the motor 1230 to rotate the dual block carrier 1202 to cause the slot 1226a or the slot 1226b to face a desired direction in order to pick up or release a tissue block 203.

[0368] In some implementations, block transport subsystem 906, can have components as depicted in FIG. 12F (i) and FIG. 12F (ii). The block transport subsystem can have a gantry 1201 with a block flipper assembly 1236. The block flipper assembly 1236 can include the single block carrier 1238, a rotary shaft 1228 and a motor 1230 to drive rotation of the rotary shaft 1228. The single block carrier 1238 can be mechanically coupled to the rotary shaft 1228. The rotary shaft 1228 can be coupled to and driven by the motor 1230. In some implementations, the rotary shaft 1228 can be mechanically coupled to the motor 1230 via a belt 1232. The gantry 1201 can pick blocks from block exchange seat 274 and place it on any of the stations in block transport subsystem 210. The gantry 1201 can also pick blocks from any stations in the block transport gantry and place the block back on block exchange seat 274. The block exchange seat 274 can have a mechanism to adjust its jaw to align the tissue block at a specific location. FIG. 12G shows the single block carrier 1238. The single block carrier can hold the tissue block 203 using the extended arms. The arm can be configured to pick the block in certain orientation such that a tissue block with tissue facing opposite to the block exchange seat. The block flipper assembly 1236 can rotate to facilitate the pickup and drop of tissue block 203 to a plurality of locations such as block exchange seat 274 and stations on block transport subsystem 210.

[0369] Referring now to FIGS. 12F(i) and 12F(ii), the block transport subsystem 906 includes a gantry 1201 configured to transport tissue blocks 203 between processing stations withinthe block transport subsystem 210. The gantry 1201 can operate along a multi-axis framework defined by X-axis 1208, Y-axis 1204, and Z-axis 1206, facilitating controlled movement of tissue blocks 203 between designated locations. The gantry 1201 includes a block flipper assembly 1236, which is structured to manipulate the orientation of tissue blocks 203 during transport. The block flipper assembly 1236 is coupled to a rotary shaft 1228, which is driven by a motor 1230 to achieve rotational movement. In some implementations, the motor 1230 can transfer rotational motion to the rotary shaft 1228 via a belt 1232, allowing precise angular adjustments of the tissue block 203. The gantry 1201 can retrieve tissue blocks 203 from a block exchange seat 274 and transport them to various stations within the block transport subsystem 210, including chilling, scanning, and sectioning stations. The block exchange seat 274 can include an adjustable clamping mechanism to align tissue blocks 203 at predefined positions before transfer.

[0370] Referring now to FIG. 12G, a single block carrier 1202 is shown in an engaged position holding a tissue block 203. The single block carrier 1202 includes an arm assembly configured to secure the tissue block 203 using mechanical retention elements. The arm assembly can include a gripping mechanism (e.g., friction-based clamps, spring-loaded holders) to stabilize the tissue block 203 during movement. The block carrier 1202 can be mechanically coupled to a guide rail system, facilitating linear displacement along an operational axis. The block carrier 1202 can transfer tissue blocks 203 to and from processing locations by engaging with alignment fixtures that position the blocks within predefined tolerances. In some implementations, the block carrier 1202 can be actuated using a linear actuator (e.g., pneumatic actuator, stepper motor), ensuring controlled translation along the transport axis. FIG. 12G illustrates the block carrier 1202 in both an open and closed state, demonstrating the mechanism used to engage and release tissue blocks 203 at designated stations.

[0371] Referring now to FIG. 12H, the block carrier 1202 includes a secondary rotation mechanism integrated with a motor-driven belt assembly 1232. The rotation mechanism facilitates angular positioning adjustments of the tissue block 203 during transport. The motor 1230 is coupled to a drive pulley, which engages with the belt 1232 to transmit rotational force to the tissue block 203. The belt 1232 can be tensioned using an adjustable idler mechanism to maintain consistent rotational control. The block carrier 1202 can rotate the tissue block 203 to facilitate alignment with processing components, such as sectioning blades or scanning sensors. The rotation angle of the block carrier 1202 can be controlled by a processing circuit executing predefined motion sequences based on tissue orientation data. Insome implementations, the block carrier 1202 can interface with position sensors (e.g., optical encoders, magnetic hall sensors) to determine rotational alignment before engaging with processing stations. The structural elements of the block carrier 1202 can include rigid support brackets to maintain mechanical stability during operation.

[0372] FIGS. 13A-13B depict various views of the feeder transport subsystem 216, according to example implementation of the current disclosure. The feeder transport subsystem 216 can include the carrier device 202 including a blade carrier 1301 and a block carrier 1302 and a multi-axis gantry 1304 and a camera 1306. The multi-axis gantry 1304 can be viewed as including a first gantry 1308 providing or facilitating movement of the carrier device 202 along the x axis, a second gantry 1310 providing or facilitating movement of the carrier device 202 along the y axis, and a third gantry 1312 providing or facilitating movement of the carrier device 202 along the z axis. The feeder transport subsystem 216 or the multi-axis gantry 1304 can include a motor 1314 to drive, e.g., via a respective drive belt, motion of the carrier device 202 along the x-axis or the gantry 1308. The feeder transport subsystem 216 or the multi-axis gantry 1304 can include a motor 1316 to drive motion of the carrier device 202 along the y- axis or the gantry 1310. The feeder transport subsystem 216 or the multi-axis gantry 1304 can include a motor 1318 to drive motion of the carrier device 202 along the z-axis or the gantry 1312.

[0373] The carrier device 202 can include the blade carrier 1301 and the block carrier 1302. The blade carrier 1301 can be configured, structured, designed and / or arranged to carry cutting blades to and from a blade holder or a cutting assembly. For example, the feeder and transport subsystem 216 and the blade carrier 1301 can transport cutting blades between a blade I / O subsystem and the blade holder or a cutting assembly. The block carrier 1302 can be configured, structured, designed and / or arranged to carry tissue blocks 203 to and from the block holder 908. For example, the feeder transport subsystem 216 and the block carrier 1302 can transport tissue blocks 203 between the block transport subsystem 906 and the block holder 908. The block carrier 1302 can receive a tissue block 203 from the dual-block carrier 1202 and provide the tissue block to the block holder 908 for facing or sectioning. The block carrier 1302 can receive a sectioned or faced tissue block 203 from the block holder 908 and provide the sectioned or faced tissue block 203 to the block transport subsystem 906 or the dual-block carrier 1202 for transporting back to the block storage system 201. The carrier device 202 is described in further detail below in relation to FIG. 14.

[0374] The camera 1306 can be arranged, positioned and / or oriented to face downward, e.g., towards a main pool or a liquid medium where sections are cut from a tissue block 203 heldby the block holder 908. The camera 1306 can be positioned, arranged and / or mounted on the multi-axis gantry 1304. For example, the camera 1306 can be mounted on the gantry 1308 or the gantry 1310. The multi-axis gantry 1304 can move the camera 1306 along at least one of the x-axis or the y-axis, e.g., to align the camera 1306 with a defined location associated with the main pool or the liquid medium. The camera 1306 can capture images of sections cut from the tissue block 203 and floating on the surface of the liquid medium. The camera 1306 can be configured or triggered to capture images of sections as they are cut from the tissue block 203. The camera 1306 can provide or send captured images to processor 112 for analysis, e.g., to determine a section boundary, edge or size and / or to evaluate or assess the quality of the section. Image analysis algorithms applied by the processor 112 are described in further detail below. The camera 1306 can be configured or triggered to capture a sequence of images as sections are cut from the tissue block 203. For example, the camera 1306 can capture at least one image per second.

[0375] The carrier device 202 can be viewed as a combination of the blade carrier 1301 and the block carrier 1302. Both the blade carrier 1301 and the block carrier 1302 can be mounted on a single gantry and share the same axes for transport. The blade carrier 1301 can carry cutting blades to and from the blade holder or cutting assembly. The blade carrier 1301 can shift a cutting blade on the blade holder to use different cutting regions of the cutting blade. The carrier device 202 can include a motor 1320 to operate and / or drive movement of the blade carrier 1301. The blade carrier 1301 and the block carrier 1302 can have different gripping members for cutting blades and tissue block 203, as described in further detail below. In some implementations, relatively long gantries, e.g., gantries 1308 and 1312, can employ driving belts to achieve or facilitate relatively faster movement of the carrier device 202 along the corresponding axes.

[0376] FIG. 14 depicts front and back perspective views of the feeder carrier device 202, according to an example implementation of the current disclosure. In particular, the blade carrier 1301 can hold and transport blades while the block carrier 1302 can hold and transport tissue blocks 203. The blade carrier 1301 can include the members 1402 and the block carrier 1302 can include gripping elements 1404. In some implementations, each member 1402 can include a respective magnetic surface 1406 to magnetically couple to a cutting blade. In some implementations, the feeder carrier device 202 can include a driving mechanism 1410 and motor 1320 to drive vertical motion of the blade carrier 1301, e.g., relative to the block carrier 1302. The driving mechanism 1410 can be or can include a lead-screw drive. In some implementations, the feeder carrier device 202 can include a motion guide 1408 and motiondrive 1412 to facilitate vertical motion of the block carrier 1302, e.g., relative to the blade carrier 1301.

[0377] Moving the blade carrier 1301 along the z-axis 1414 relative to the tissue block carrier 1302 allows for moving the blade carrier 1301 away from the tissue block carrier 1302 to facilitate reliable picking up of a blade. Similarly, moving the tissue block carrier 1302 along the z-axis 1414 relative to the blade carrier 1301 allows for moving the tissue block carrier 1302 away from the blade carrier 1301 to facilitate reliable grabbing of a tissue block 203. The z-axis 1414 can be viewed as a secondary z-axis.

[0378] The blade carrier 1301 can carry cutting blades between the blade storage system and the blade holder. The blade carrier 1301 can grab or pick up a blade via the respective magnetic surface(s) 1406. To pick up a blade, the feeder transport subsystem 216 and / or the motor 1320 can position the blade carrier such that the respective magnetic surfaces 1406 are close to or in contact with a surface of the blade causing the blade to magnetically couple to the magnetic surfaces 1406 of the members 1402. The blade can be released by a structure exerting a force on the blade as the feeder transport subsystem 216 and / or the motor 1320 cause the blade carrier 1301 to move in a given direction.

[0379] The gripping elements 1404 can be designed, arranged, structured and / or configured to grip the tissue block 203. For example, the gripping elements 1404 can be designed, arranged, structured and / or configured to move towards each other in order to grip the tissue block 203 and move away from each other in order to release the tissue block 203.

[0380] FIGS. 15A-15C depict various perspective views of the block holder 908. The block holder 908 can hold the tissue block 203 for facing or sectioning. The block holder 908 can receive the tissue block 203 from the feeder transport subsystem 216 or the respective block carrier 1302. Referring to FIG. 15A, the block holder 908 can include a stationary gripping element 1502 (including similar features and functionality as an upper clamp 272), a moving gripping element 1504 (including similar features and functionality as a lower clamp 273), a moving plate 1506, chamfered edges 1510, a motor 1512, a linear block 1514 and a linear rail 1516.

[0381] The stationary gripping element 1502 can be operatively coupled to the moving gripping element 1504. The moving gripping element 1504 can be coupled to the moving plate 1506. Each of the stationary gripping element 1502 and the moving gripping element 1504 can include a respective chamfered edge 1510. The moving gripping element 1504 can be mounted on at least one or more of the blockjaw linear block 1514. The linear block 1514 can be coupled to the linear rail 1516.

[0382] The stationary gripping element 1502 can grip and un-grip the tissue block 203 in conjunction with the moving gripping element 1504. The stationary gripping element 1502 can include or have a respective chamfered edge 1510. The chamfered edge 1510 can be referred to herein as slanted edge. In general, the stationary gripping element 1502 can include a respective chamfered edge, beveled edge, a slanted edge or a stepped edge, designed, arranged or structured to provide a gripping structure for gripping the tissue block 203 or the respective cassette 306. In particular, a slant or a ledge of the stationary gripping element 1502 can hold or secure one side of the tissue block 203 or the respective cassette 306.

[0383] The moving gripping element 1504 can be designed, arranged, structured or configured to move towards and away from the stationary gripping element 1502. The moving gripping element 1504 can be mounted on the at least one or more linear block 1514 to allow for smooth motion along a z-direction. The moving gripping element 1504 can move in a direction to clamp and unclamp the tissue block 203. The moving gripping element 1504 can have an edge, e.g., stepped edge, designed, adapted, arranged, or structured to allow for gripping the tissue block 203. In particular, a slant or a ledge of the stationary gripping element 1502 can hold or secure one side of the tissue block 203 or the respective cassette 306.

[0384] The moving plate 1506 can be coupled to the moving gripping element 1504 and can allow the moving gripping element 1504 to move toward and away from the stationary gripping element 1502. The moving plate 1506 can couple the linear block 1514 to the moving gripping element 1504 to allow for smooth motion.

[0385] The gripping element edge 1510 can be chamfered or slanted. In some implementations, the gripping element edge 1510 can have a ridge shape or ledge-shape. The gripping element edge 1510 can auto align the tissue block 203 between the stationary gripping element 1502 and the moving gripping element 1504.

[0386] The motor 1512 can drive motion of the moving gripping element 1504. The motor 1512 can be a stepper motor.

[0387] Referring now to FIG. 15B, horizontal and vertical cross-sectional views of the block holder 908 are shown, according to an example implementation of the current disclosure. The block holder 908 can include a lead screw 1518 and a lead nut 1520. The lead screw 1518 can be coupled to the motor 1512. The lead screw 1518 can translate a rotary motion of the motor 1512 to a linear motion for the moving gripping element 1504. The lead screw 1518 can be used for clamping or unclamping the tissue block 203. The lead screw 1518 can be coupled to the lead nut 1520. The lead screw 1518 can be driven by the motor 1512.

[0388] The lead nut 1520 can be coupled to the moving plate 1506. The lead nut 1520 can be rotationally constrained. The lead nut 1520 and the moving plate 1506 can move linearly along the lead screw 1518, responsive to rotation of the lead screw 1518.

[0389] To unclamp the tissue block 203, the motor 1512 can cause the lead screw 1518 to rotate in a first direction causing the lead nut 1520, the moving plate 1506 and the moving gripping element 1504 to move away from the stationary gripping element 1502.

[0390] To clamp the tissue block, the motor 1512 can cause the lead screw 1518 to rotate in an opposite direction causing the lead nut 1520, the moving plate 1506 and the moving gripping element 1504 to move towards the stationary gripping element 1502.

[0391] The clamping force can be tested to minimize or mitigate defects in a microtomy process and avoid damaging the tissue block 203 and potentially dislodging the wax block 304 from the cassette 306. The motor 1512 can control the clamping force applied to the tissue block 203.

[0392] Referring to FIG. 15C, the block holder 908 can include a light-emitting diode (LED) 1522. The LED 1522 can be disposed between the tissue block 203 and the moving plate 1506. The LED 1522 can illuminate the tissue block 203 via a face of the tissue block 203 facing the moving plate 1506, e.g., the LED 1522 illuminates the tissue block 203 from behind. The LED 1522 can help the one or more processors 112 receive sharp and clear images with low exposure times. Low exposure times can allow the tissue block 203 images to be acquired when the tissue block 203 is being cut at high speeds, e.g., during facing. High exposure times could result in motion blurring and poor-quality images. This could result in poor image data and a decrease in an accuracy of the one or more processors 112.

[0393] FIGS. 16A-16D depict a sequence of images illustrating the block holder 908 receiving and securing a tissue block 203, according to an example implementation of the current disclosure. The feeder transport subsystem 216 can be designed, adapted, arranged, structured, or configured to transport the tissue block 203 and feed the tissue block 203 to the block holder 908 at a slot formed by the stationary gripping element 1502 and the moving gripping element 1504 precise location. Once the tissue block 203 is placed in the slot, the processor 112 can cause trigger the motor 1512 to cause the moving gripping element 15104 to move towards the stationary gripping element and clamp the tissue block 203 in the slot. The chamfered edges 1510 can secure the tissue block 203 to the block holder 908. The feeder transport subsystem 216 or the tissue block carrier 1302 can release the tissue block 203 once the tissue block is secured to the block holder 908. The tissue block 203 can be aligned with the slot of the block holder 908 as the moving gripping element pushes the tissue block 203against the stationary gripping element 1502. The alignment of the tissue block 203 can thus be preserved and active alignment of the tissue block by the feeder transport subsystem 216 and the block holder 908 can be unnecessary. The alignment of the tissue block 203 can save time and can provide higher quality tissue block 203 sections and minimize tissue block 203 waste.D2. Facing, Chilling, and Sectioning Pathway

[0394] As used herein, a section pathway describes or refers to the journey of sections within the microtomy system 100. A section is a sheet or slice cut from a tissue block 203, e.g., a formalin-fixed paraffin embedded (FFPE) block. The section pathway can include the facing process, the chilling process and the sectioning process. The section pathway system 104 can be configured to perform operations or tasks associated with the facing process, the chilling process and the sectioning process. In some implementations, the chilling process may be viewed as part of the block pathway. The section pathway system 104 can be configured to handle sections cut during the facing process and / or sections cut during the sectioning process.

[0395] As described in further detail below, the microtomy system 100 can be configured or structured to cut relatively thick sections during the facing process and cut relatively thin sections during the sectioning process. Whether during the facing process or the sectioning process, the microtomy system 100 can be configured to cut sections from the tissue block 203 in rapid succession. Thin sections can be sections having a thickness of three to five micrometers (3-5 pm) and / or three to twenty micrometers (3-20 pm). A thick section can be a section having thickness greater than 5pm. In some implementations, thick sections can be 10 pm to 30pm thick and / or 30 pm to 100pm thick. The microtomy system 100 can be configured to place thin sections on slides for examination under a microscope and dispose of or discard thick sections. The thick sections are discarded because they are too thick to be stained and viewed under a microscope. Cutting thick sections speeds up the facing process, especially that such sections are discarded. Thin sections cut during the sectioning process are more adequate for staining and examination under the microscope.

[0396] Referring now to FIGS. 17A-17E, views of the section pathway system 104 and views of internal system 214 are shown, according to an example implementation of the current disclosure. In particular, FIGS. 17A-17C and FIG. 17E depict various perspective views of the section pathway system 104 and FIG. 17D depicts two different views of the internal system 214. The internal system 214 can be referred to herein as driving system and can be configured to drive motion of the block holder 908. In brief overview, the section pathwaysystem 104 can include the pool system 208, the chilling station 210, one or more section manipulators 212, the internal system 214, a manipulator drive system 1702, one or more cameras, such as cameras 1704 and 1706, a slide transport system 206 including a slide transport gantry 1708 and a slide carrier 1710 and an advance pusher 1712. The pool system 208 can include a main pool 1714 and a hot de-wrinkling pool 1716.

[0397] The pool system 208 can be configured to host or form a fluid medium to enhance the process of cutting sections of the tissue block 203, improve the quality of sections cut from the tissue block 203, extend the operational life of the cutting blade 1705 and / or facilitate detachment and transport of the sections cut from the tissue block 203. In some implementations, the pool system 208 can have a ring shape or can include a ring pool 1701 including the main pool 1714 and the hot de-wrinkling pool 1716. In some implementations, the pool system 208 can have some other shape, e.g., a rectangular shape. The fluid in the pool system can include water. As described in further detail below, at least one surface or one side of the cutting blade 1705 can be immersed, at least partially, in the main pool 1714. The main pool 1714 can contain relatively cool water, or more generally a cool fluid. The main pool 1714 can be disposed in the pool system 208 and can be a region or a fluid container of the pool system 208. The surface or the side of the blade 1705 arranged in the main pool 1714 can be in contact with the fluid in the main pool 1714.

[0398] The fluid or water in the main pool 1714 can help cool the cutting blade 1705 and the blade cuts sections of the tissue block 203 in rapid successions. The fluid or water in the main pool can facilitate detachment of sections from the cutting edge of the blade 1705 and transport or movement of the sections to be picked up by slides. The fluid or water in the main pool 1714 can also facilitate automatic discard of sections cut from the tissue block 203 during the facing process and / or waste or low-quality sections. In some implementations, the main pool 1714 can be viewed as a component or part of the cutting assembly used to cut sections of the tissue block 203. For example, the cutting assembly can include the blade holder and the main pool 1714.

[0399] The hot de-wrinkling pool 1716 can be another pool or fluid container of the pool system 208. The hot de-wrinkling pool 1716 can include relatively warmer water or warmer fluid. In other words, the water or fluid in the hot de-wrinkling pool 1716 can be warmer than the water or fluid in the main pool 1714. The warmer water or fluid in the hot de-wrinkling pool 1716 can be used to de-wrinkle or flatten sections cut from of the tissue block 203. The relatively warmer water or fluid in the pool 1716 can prevent folding or compression artifacts in the sections cut of the tissue block 203. As described in further detail below, sections cutduring the sectioning process can be moved from the main pool 1714 to the hot de-wrinkling pool 1716, e.g., via the ring pool 1701. The hot de-wrinkling pool 1716 can be configured, structured or designed to maintain a defined temperature or a defined temperature range of the of the fluid or water therein. For example, the temperature of the water or fluid in the hot de-wrinkling pool 1716 can be about 50 degrees Celsius. The warm water or warm fluid can flatten the sections by heat and / or surface tension. The hot de-wrinkling pool 1716 can be referred to herein as pickup pool since sections cut from tissue blocks 203 are picked up on slides 1703 at the hot de-wrinkling pool 1716.

[0400] The section manipulator(s) 212 can be configured, structured and / or designed to detach sections from the blade 1705 or the respective cutting edge once cut and drag or move the sections from the main pool 1714 to the hot de-wrinkling pool 1716. Whether in the main pool 1714 or the hot de-wrinkling pool 1716, the manipulator(s) 212 can be configured to submerge sections determined to be of poor quality in the fluid or water to be discarded. Submerged sections can be drifted or carried by fluid flow to be discarded. When moving a section from the main pool 1714 to the pool 1716, the section manipulator 212 can be configured to drag the section while the section is floating on the surface of the fluid or water in the pool system 208.

[0401] The section manipulator(s) 212 can be robotic device(s) automatically driven by the manipulator drive system 1702. As described in further detail below, the manipulator drive system 1702 can cause the manipulator(s) 212 to move from the main pool 1714 to the hot de-wrinkling pool 1716 and back to the de-wrinkling pool 1716. For example, the manipulator drive system 1702 can cause the manipulator(s) 212 to move or rotate around the ring pool system 208. The manipulator drive system 1702 may be configured to cause the manipulator 212 to rotate around another axis to dip or submerge a portion of the manipulator 212 into the fluid or water in the main pool 1714 or the hot de-wrinkling pool 1716, e.g., to submerge a section of poor quality.

[0402] The advance pusher 1712 be configured to move the manipulator(s) 212 towards the blade 1705. For a manipulator 212 that is facing the blade 1705 in the blade holder, the advance pusher 1712 when actuated can move to push the manipulator 212 towards the blade 1705. The processor 112 and / or some other controller can control and / or coordinate movement of the advance pusher 1712 based on movement of the block holder 908. For example, upon detecting that the block holder 908 is at a defined position, e.g., a position indicative of a fully cut section, the processor 112 or the controller trigger motion of the advance pusher 1712 to cause movement of the manipulator 212 toward the cut section or theblade so that the manipulator 212 can engage the section and detach the section from the blade1705 or the respective cutting edge.

[0403] The slide transport system 206 can be configured to pick up a slide 1703 from a slide storage device and use each slide 1703 to pick up one or more sections from the hot dewrinkling pool 1716. In some implementations, the slide transport system 206 can be viewed as a subsystem of the slide pathway system 106. Once one or more sections are picked up on the slide 1703, the slide transport system 206 can place the slide in the slide storage device. The slide transport system 206 can include the slide transport gantry 1708 and the slide carrier 1710.

[0404] The slide carrier 1710 can be referred to herein as slide gripper. The slide carrier 1710 can be configured, structured and / or arranged to pick up a slide from the slide storage device, carry the slide towards or into the hot de-wrinkling pool 1716, move the slide into the hot dewrinkling pool 1716 to pick up one or more sections from the hot de-wrinkling pool 1716 and / or place the slide back into the slide storage device. The slide transport system 206 can be configured, structured and / or arranged to cause movement of the slide carrier 1710. For example, the slide transport system 206 can include one or more gantries to cause movement of the slide carrier along one or more axes, e.g., a vertical axis and one or more horizontal axes.

[0405] The microtomy system 100 or the processor(s) 112 can employ the cameras 1704 and1706 to assess the quality of sections cut from the tissue block. The camera 1706 can be arranged, positioned and / or oriented to face the tissue block 203 clamped or secured by the block holder 908. The camera 1706 can take images of the tissue block 203 and send the captured images to the processor(s) 112 for image analysis and / or decision making. For example, during the facing process, the processor(s) can use images of the tissue block 203 captured by the camera 1706 to determine whether a section cut from the tissue block 203 is a full-area section. As used herein, a full-area section is a section that corresponds to the full face of the tissue block 203. A full-area section indicates that the blade has been able to cut through the full face of the tissue block 203 and not just a part of it. The processor(s) 112 can use images of the tissue block 203 captured by the camera 1706 to estimate a length of the section cut from the tissue block 203 and / or to detect compression of the section.

[0406] The camera 1704 can be arranged, positioned and / or oriented to face the main pool 1714. Once a section is cut and is floating on the fluid in the main pool 1714, the processor(s) 112 can cause the camera 1704 to capture one or more images of the section. The camera 1704 can send the captured image(s) to the processor(s) 112 for analysis. The processor(s)112 can analyze the image(s) to assess the quality of the section cut and determine whether to use the section for examination or discard the section. The camera 1704 can be the same as camera 1306 of FIGS. 13A and 13B. The section pathway system 104 can include one or more cameras 1704 or 1306 to capture images of sections cut from the tissue block 203.

[0407] FIG. 17D depicts two views of the internal system 214. The internal system 214 can be mechanically coupled to the block jaw and configured to drive and / or the movement of the block holder 908. In brief overview, the internal system 214 can include a flywheel 1718, a flywheel drive motor 1720, a balancing arm 1722 and a scotch yoke mechanism 1724. In general, the internal system 214 can include the scotch yoke mechanism 1724 to drive vertical motion, or motion along the z-axis, of block holder 908 and a linear actuation mechanism to drive a horizontal motion, e.g., along a y-axis, of the block holder 908. The scotch yoke mechanism 1724 and the linear actuation mechanism can be mechanically coupled to the block holder 908. The linear actuation mechanism can cause the block holder 908 to move towards and away from the cutting assembly along the horizontal direction.

[0408] The flywheel drive motor 1720 can be mechanically coupled to the flywheel 1718 via a belt in tension. The flywheel drive motor 1720 when actuated can cause the flywheel 1718 to rotate. The flywheel 1718 can have or can be mechanically coupled to a pin which can drive the scotch yoke mechanism 1724. In turn, the scotch yoke mechanism 1724 can cause the block holder 908 to move in the vertical direction. The flywheel 1718 can create high inertia during cutting of the tissue block 203 and can minimize defects of the section of the tissue block 203, such as “chatter” like defects.

[0409] The scotch mechanism 1724 can convert the rotary motion of the flywheel 1718 into a linear motion. Unlike other mechanisms, such as a crank mechanism, the scotch mechanism 1724 fully transforms the rotational force of the flywheel 1718 into a linear vertical force that is applied to the block profile. A constant angular motion of the scotch yoke mechanism 1724 can result in a sinusoidal linear velocity of the block holder 908 along the vertical direction or the z-axis. To achieve a uniform cutting quality across a section, it is desired to have constant linear velocity of the block holder 908 during the cutting of the section. In some implementations, the internal system 214 can be designed or structured to keep the blade edge at the center of the cutting stroke and the dimensions can be chosen in a way to keep the linear velocity variation within a defined range, e.g., less than 10%, during actual cutting of the section. In other words, the internal system 214 and / or the cutting stroke can be configured or designed such that the linear velocity of the block holder 908 during the time period when the blade edge is cutting through the tissue block 203 is almost constant or the correspondingvariation does not exceed a defined threshold, e.g., 10%. By limiting the linear velocity variation during actual cutting of the section, the cutting quality can be uniform or almost uniform across the whole section. Also, the design of the scotch mechanism 1724 leads to simpler motor control algorithms, which in turn leads to fast cutting speeds and improved throughput.

[0410] The balancing arm 1722 can be configured or structured to balance the weight carried by the scotch mechanism 1724 using a spring. The balancing of the weights allows to run the motion of the block holder 908 at higher accelerations without jerks which would have been caused otherwise. Accordingly, the internal system 214 can facilitate high speeds of the block holder 908 desired during the facing process at a higher cutting thickness.

[0411] The linear actuation mechanism can be configured to drive horizontal, e.g., along the y-axis, of the block holder 908. The linear actuation mechanism can include a lead screw mechanism, can advance the block holder 908 by a desired cutting thickness in the horizontal direction or in a direction transverse or perpendicular to the cutting edge of the blade. In some implementations, the lead screw can have a pitch of about 0. 5 mm to achieve a linear displacement, or linear advance, of the block holder of 3 pm to 5 pm (and / or 4 pm to 10 pm) with a sub-micron accuracy. As a result, to cut sections can have a thickness of 3 pm to 5 pm.

[0412] FIG. 17E depicts 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 a section manipulator drive assembly 1730, a plurality of section manipulators 212, the camera 1706 and the tissue block holder 908. The section manipulator drive assembly 1730 can be configured, structured and / or arranged to drive movement of the plurality of section manipulators 212, a camera 1706 and the tissue block holder 908. The section manipulators 212 can be configured, structured, designed and / or arranged to detach sections cut from the tissue block 203 from the blade 1705, transport or drag the sections across the pool system 208 or the ring pool 1701 and / or discard sections determined to be of unsatisfactory quality. As discussed above, the camera 1706 can be arranged, positioned and / or oriented to face the tissue block 203 clamped or secured by the block holder 908. The camera 1706 can take images of the tissue block 203 and send the captured images to the processor(s) 112 for image analysis and / or decision making. The section pathway system 104 can include one or more cameras 1706 to capture images of the tissue block 203.

[0413] FIGS. 18A-18H depict various aspects associated with the main pool 1714, according to an example implementation of the current disclosure. In particular, FIGS. 18A-18D depictvarious views of the main pool 1714, FIG. 18A depicts various meniscus profiles of liquid in the main pool 1714, and FIG. 18E-18H show various snapshots of a video sequence illustrating a process of cutting a section from a tissue block 203 at the main pool 1714. The main pool 1714 can include one or more barrier gates 1802, one or more overflow gates 1804, a liquid inlet 1806, e.g., water inlet 1806, and a liquid outlet 1808, e.g., water outlet 1808.

[0414] FIGS. 18I-18J depicts an example implementation of slices from the tissue block 203 being cut. In particular, FIGS. 18I-18J depict various views of the main pool 1714, FIG. 181 illustrates sections that have been cut to form a ribbon. The sections can be in contact with each other as the block holder 908 moves against the cutting blade 1705 to create the sections. The block holder 908 can continuously move against the cutting blade 1705 to create the ribbon of sections. In contrast, FIG. 18J shows sections that have been cut and are detached from each other, thereby floating in the main pool 1714. The detached sections can float in the main pool 1714 towards a same direction. In such implementations, the block holder 908 can pause between slices such that the sections are detached from each other. In some implementations, movement of the block holder 908 against the cutting blade 1705 is slower in FIG. 18J than that of FIG. 181.

[0415] FIG. 18K depicts a process (e.g., sequence) of generating sections and the section manipulator 212 picking up the sections. 1A-1D depict a process of discarding a section in response to determining that the section is curled and / or defective. The process shown in 1 A- 1D can also be performed for initial sections generated by the tissue block 203, such as the first 5 sections sliced by the block holder 908. The block holder 908 can move vertically relative to the cutting blade 1705 to generate the slices. The block holder 908 can generate sections in time intervals such as cutting a section every 4 seconds. As the block holder 908 moves, the section manipulator 212 can prepare to pick up the section cut by the block holder 908, as shown in at least IB. The section manipulators 212 can move in parallel to the block holder 908. The section manipulators 212 can be positioned in the water and once the section passes over the section manipulator 212, the section manipulator 212 can pick up the section as shown in 1C. The section manipulator 212 can be configured to pick up the sections in intervals, such as every 8 seconds. In response to determining that the section is to be discarded, the section manipulator 212 can, for example, drop the section and allow the section to flow to an exit of the main pool 1714. The section manipulator 212 can then prepare to pick up a following section 1826.

[0416] Fig. 18K, 2A-2C shows a process where the defective section is automatically detached from the newly cut section 1826. The defective section can be detached based onthe type of tissue and / or flow of water in the main pool 1714. For example, based on the type of tissue, the tissue block 203 can be determined to have a number of initial defective and / or curled sections. The block holder 908 can be configured to detach each of the initial number of defective sections such that the section manipulator 212 does not contact the defective sections, and the defective sections can flow to the exit of the main pool 1714 and be discarded. The flow of water in the main pool 1714 can be increased to facilitate flow of the defective sections to the exit in the main pool 1714.

[0417] FIG. 18L (i) to (iv) depict the section manipulator 212 preparing to pick up the section. The block holder 908 can be in a top position 1825 in (i) and in contact with the cutting blade 1705. From (ii) to (iv), the block holder 908 can move towards a bottom position 1827 to slice the section. The initial slice from the tissue block 203 can be curled as shown in at least (iii), and the section manipulator 212 can pick up the slice in (iv) and move towards the exit of the main pool 1714 to discard the section. The section manipulator 212 can then return to its pickup position 1828 at (vi) and prepare to pick up the following section 1826 at (vii). The exit of the main pool 1714 can be aligned with and face the cutting blade 1705.

[0418] Referring now to FIG. 18M, multiple sections can be cut from the tissue block 203 and can be picked up by one or more section manipulators 212. In FIG. 18, the sections can be picked up by two section manipulators 212. The section manipulators 212 can be synchronized and move in parallel such that only one section manipulator 212 is picking up a section at one time. For example, a first section manipulator 212 can move to a position 1828 aligned with the tissue block 203 to pick up a section. The first section manipulator 212, to pick up the section, can move from below the water level in the main pool 1714 to a position above water level to detach the section from the ribbon of sections on the cutting blade 1705. The first section manipulator 212 can pick up the section as shown in (b), and a second section manipulator 212 can move to the pickup position 1828 to pick up a following section shown in (c). One or more cameras, such as camera 1706, can capture images of the section on each of the section manipulators 212 to determine whether the section has been successfully picked up. In response to determining that pickup was not successful, the section manipulator 212 can be repositioned to pick up a following section sliced by the block holder 908.

[0419] The motion of the block holder 908 can be in sync with movement of the section manipulator 212. For example, as the block holder 908 is moving against the cutting blade 1705 to cut an additional section, one of the section manipulators 212 is at the pickup position 1828 to pickup the newly cut section. The section manipulators 212 can move in tandem such that one section manipulator 212 is constantly prepared and picking up the newly cut section.For example, the block holder 908 can cut new sections at a rate of 4 seconds, and the section manipulators 212 can pick and move the sections at a rate of 8 seconds, (a) to (h) illustrate the process of the section manipulators 212 working in tandem to pick up the newly cut sections. The section manipulators 212 can alternate picking up sections, as shown in FIG. 18M. The first section manipulator 212 can be in the pickup position 1828 and following pick up the section, the second section manipulator 212 can move to the pickup position 1828 to pick up the following section as shown in (c). Once the following section is picked up by the second section manipulator 212, the first section manipulator 212 can return to the pickup position 1828 to pick up another section as shown in (d). Movement of the section manipulators 212 can be mirrored and offset from each other.

[0420] In various implementations, the section manipulators 212 can pick up consecutive sections, such as the first section manipulator 212 picking up 3 consecutive sections and then moving the sections. The second section manipulator 212 can then pick up the following 3 consecutive sections. In some implementations, the order of sections cut and the order at which the section manipulators 212 pick up the sections can vary.

[0421] In some implementations, the main pool 1714 can include two barrier gates located on both sides of the main pool 1714, e.g., at an entry and exit of the main pool 1714. The barrier gates 1802 can control entry of liquid, e.g., water, and / or material into the main pool 1714. The barrier gate(s) 1802 help reduce the exchange of liquid between the main pool 1714 and the rest of the ring pool 1701 or the rest of the pool system 208, and help prevent floaters, e.g., section fragments or other material, from entering the main pool 1714. By reducing liquid exchange between the main pool 1714 and the rest of the ring pool 1701, the barrier gate(s) help maintain a substantially constant liquid temperature ta the main pool 1714. The barrier gate(s) 1802 can include one or more physical walls arranged between the main pool 1714 and the rest of the ring pool 1701. The barrier gate(s) 1802 can be configured, structured, designed and / or arranged to open and close.

[0422] FIG. 18K (1A-1D) illustrates a sequence where the section manipulator 212 interacts with sections generated by the block holder 908. In FIG. 18K (1A), the section manipulator 212 is submerged beneath the surface of the main pool 1714 and aligned with the cutting region of the tissue block 203. The block holder 908 moves vertically, engaging the cutting blade 1705 to produce a new section. In FIG. 18K (IB), the section manipulator 212 remains in position as the block holder 908 completes the sectioning operation. The section manipulator 212 moves into place beneath the floating section in FIG. 18K (1C) and then discards the section in FIG. 18K (ID), redirecting it toward the exit of the main pool 1714.The block holder 908 continues moving in timed cycles to generate additional sections. The section manipulator 212 resets to its initial position to repeat the pickup sequence.

[0423] FIG. 18K (2 A-2C) illustrates detachment of a defective section before retrieving the next section 1826. In FIG. 18K (2A), the block holder 908 completes a downward motion, slicing the tissue block 203. The section manipulator 212 remains beneath the section while preparing for movement. In FIG. 18K (2B), the section manipulator 212 releases the defective section, which flows toward the exit of the main pool 1714. In FIG. 18K (2C), the section manipulator 212 resets at pickup position 1828, positioning itself to retrieve the next viable section. Defective section handling is based on feedback mechanisms, including imaging data and real-time section evaluation. Fluidic flow in the main pool 1714 directs discarded sections to prevent accumulation near the cutting region. The section manipulator 212 remains in synchronization with the block holder 908.

[0424] FIG. 18L (i) to (iv) depicts the movement of the block holder 908 from a top position 1825 toward a bottom position 1827 during a slicing operation. In FIG. 18L (i), the block holder 908 is fully retracted, holding the tissue block 203 at its highest point before advancing. In FIG. 18L (ii), the block holder 908 moves downward, engaging the cutting blade 1705 while maintaining linear alignment. In FIG. 18L (iii), the newly cut section detaches from the tissue block 203, floating on the surface of the main pool 1714. The section manipulator 212 initiates pickup in FIG. 18L (iv) by lifting the section from the water. Movement timing between the block holder 908 and section manipulator 212 is predefined based on cutting intervals. Section integrity is assessed during retrieval. Any section identified as defective is discarded.

[0425] FIG. 18L (v) to (vii) illustrates reset and repositioning of the section manipulator 212. In FIG. 18L (v), the section manipulator 212 moves below the surface of the main pool 1714 after depositing a section. In FIG. 18L (vi), the section manipulator 212 realigns with the cutting region in preparation for the next retrieval. In FIG. 18L (vii), the section manipulator 212 reaches pickup position 1828 to intercept the next floating section. The block holder 908 continues slicing at fixed intervals, coordinating its movement with the pickup process. Section manipulator 212 movement parameters are based on robotic motion control sequences. Section pickup frequency is synchronized with block holder 908 slicing speed. Pickup failures can trigger repositioning routines.

[0426] FIG. 18M (a) to (h) shows a synchronized pickup sequence between two section manipulators 212. In FIG. 18M (a), the block holder 908 advances the tissue block 203 against the cutting blade 1705, producing a section. The first section manipulator 212 is positionedat pickup position 1828 while the second section manipulator 212 remains inactive. FIG. 18M (b) depicts the first section manipulator 212 lifting the section while the second section manipulator 212 moves into position. In FIG. 18M (c), the second section manipulator 212 reaches pickup position 1828, preparing to retrieve the next section. The section manipulators 212 alternate, reducing idle time between pickups. Pickup intervals can be defined based on sectioning frequency and / or retrieval speed.

[0427] FIG. 18M (d) to (h) continues synchronized section retrieval. In FIG. 18M (d), the first section manipulator 212 moves the collected section away while the second section manipulator 212 remains in position. In FIG. 18M (e), the first section manipulator 212 resets and moves back to pick up position 1828. FIG. 18M (f) shows the second section manipulator 212 retrieving a section while the first section manipulator 212 prepares for the next cycle. FIG. 18M (g) and FIG. 18M (h) depict a continuous retrieval cycle where the section manipulators 212 alternate, preventing process delays. The block holder 908 can maintain slicing operations at constant intervals. Pickup and transport trajectories can be defined to prevent section misalignment.

[0428] The section manipulators 212 operate based on predefined robotic control parameters stored in processing circuits (e.g., microcontrollers, ASICs). Pickup force can be regulated by actuation...

Claims

WHAT IS CLAIMED IS:

1. A system comprising: one or more processors coupled to memory and configured to: determine, for each slide of a plurality of slides, a respective slide identifier assigned to the slide; determine, for each tissue block of a plurality of tissue blocks, a respective block identifier assigned to the tissue block; store, in one or more data structures, for each slide, an association between the respective slide identifier of the slide and the respective block identifier of a respective tissue block of the plurality of tissue blocks; identify, from the plurality of tissue blocks, a tissue block to be used to cut sections; select, responsive to identifying the tissue block, from the plurality of slides using the one or more data structures, a subset of slides associated with the tissue block; and cause a robotic subsystem to retrieve a first slide of the subset of slides from a slide storage device storing the first slide to pick up a section cut from the tissue block.

2. The system of claim 1, wherein the slide identifier is attached to the slide.

3. The system of claim 1, wherein the slide identifier is a barcode.

4. The system of claim 3, wherein the slide identifier is determined using a barcode sensor.

5. The system of claim 1, wherein each slide is assigned a position identifier identifying a slot position in a respective slide storage device storing the slide.

6. The system of claim 1, wherein the plurality of slides is stored in at least one slide storage device, the at least one slide storage device including a plurality of slots, each slot configured to store a respective slide at an inclined angle.

7. The system of claim 1, wherein the one or more data structures stores, for each slide, a second association between the respective slide identifier of the slide and a respective position identifier identifying a slot position at which the slide is stored.

8. The system of claim 1, wherein the tissue block is a first tissue block and the subset of slides is a first subset of slides and wherein the one or more processors are configured to: identify, from the plurality of tissue blocks, a second tissue block to be used to cut sections;select, responsive to identifying the second tissue block, from the plurality of slides, a second subset of slides associated with the second tissue block; and cause the robotic subsystem to retrieve a second slide of the second subset of slides from a slide storage device storing the second slide to pick up a second section cut from the second tissue block.

9. The system of claim 1, wherein the one or more processors are configured to store an association between each respective slide of the plurality of slides and a respective tissue block of the plurality of tissue blocks prior to initiating a process of cutting tissue blocks.

10. The system of claim 1, wherein the one or more processors are configured to determine, for each slide, a location of a slot of a slide storage device where the slide is stored.

11. The system of claim 1, wherein the plurality of tissue blocks is stored in at least one block storage device, each block storage device comprising a plurality of tissue block slots arranged such that each tissue block is positioned such that the respective block identifier of the tissue block is visually accessible to one or more cameras.

12. The system of claim 11, further comprising: one or more cameras; and wherein to identify the tissue block to be used to cut sections, the one or more processors are configured to cause the one or more cameras to obtain an image of the block identifier of the tissue block while the tissue block is stored in a tissue block slot of a block storage device.

13. The system of claim 1, wherein the one or more processors are configured to: receive, from a device of a user, a first number of sections to cut from the tissue block and second number of slides on which to place the first number of sections; determine, from at least one image of the tissue block, a third number of sections capable of being placed on a single slide; and provide, to the device of the user, a notification indicating that a fourth number of slides allotted to the tissue block is insufficient based on the first number, the second number, and the third number.

14. A method, comprising; determining, for each slide of a plurality of slides, a respective slide identifier assigned to the slide; determining, for each tissue block of a plurality of tissue blocks, a respective block identifier assigned to the tissue block;storing, in one or more data structures, for each slide, an association between the respective slide identifier of the slide and the respective block identifier of a respective tissue block of the plurality of tissue blocks; identifying, from the plurality of tissue blocks, a tissue block to be used to cut sections; selecting, responsive to identifying the tissue block, from the plurality of slides using the one or more data structures, a subset of slides associated with the tissue block; and causing a robotic subsystem to retrieve a first slide of the subset of slides from a slide storage device storing the first slide to pick up a section cut from the tissue block.

15. The method of claim 14, comprising: storing, in the one or more data structures, for each slide, a second association between the respective slide identifier of the slide and a respective position identifier identifying a slot position at which the slide is stored.

16. The method of claim 14, wherein the tissue block is a first tissue block and the subset of slides is a first subset of slides and wherein the method comprises: identifying, from the plurality of tissue blocks, a second tissue block to be used to cut sections; selecting, responsive to identifying the second tissue block, from the plurality of slides, a second subset of slides associated with the second tissue block; and causing the robotic subsystem to retrieve a second slide of the second subset of slides from a slide storage device storing the second slide to pick up a second section cut from the second tissue block.

17. The method of claim 14, comprising storing an association between each respective slide of the plurality of slides and a respective tissue block of the plurality of tissue blocks prior to initiating a process of cutting tissue blocks.

18. The method of claim 14, comprising determining, for each slide, a location of a slot of a slide storage device where the slide is stored.

19. The method of claim 14, wherein identifying the tissue block to be used to cut sections includes causing one or more cameras to obtain an image of the block identifier of the tissue block while the tissue block is stored in a tissue block slot of a block storage device.

20. The method of claim 14, comprising: receiving, from a device of a user, a first number of sections to cut from the tissue block and second number of slides on which to place the first number of sections; determining, from at least one image of the tissue block, a third number of sections capable of being placed on a single slide; andproviding, to the device of the user, a notification indicating that a fourth number of slides allotted to the tissue block is insufficient based on the first number, the second number, and the third number.

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