Pathology slide automation system and method

Abstract

A pathology slide manufacturing system includes: a slide tray pedestal including: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray including: a frame configured to have a first edge removably rest on the upper surface of the first frame platform; a plurality of slots corresponding the slide platforms and configured to hold a pathology slide.

Description

PATHOLOGY SLIDE AUTOMATION SYSTEM AND METHODCROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority to, and the benefit of, U.S. Provisional Patent Application No. 63,637223, filed on April 22, 2024, in the U.S. Patent and Trademark Office, the entire disclosure of which is incorporated herein by reference.FIELD

[0002] One or more aspects of some embodiments according to the present disclosure relate to a pathology slide manufacturing system and method.BACKGROUND

[0003] In the field of pathology, the process of manufacturing individual slides having tissue or fluid samples may be complex and time consuming. Various steps and operations may be involved from when the sample is collected to when the final slide is ready to be reviewed by a pathologist. Additionally, when attempting to manufacture multiple slides, for multiple tissue or fluid samples, and from multiple patients, the process becomes even more complex.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background and therefore the information discussed in this Background section does not necessarily constitute prior art.SUMMARY

[0005] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes: a slide tray pedestal including: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray including: a frame configured to have a first edge removably rest on the upper surface of the first frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide.

[0006] According to some embodiments, the frame platform includes: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

[0007] According to some embodiment, the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.

[0008] According to some embodiments, the first frame platform and the second frame platform each comprise frame walls and the slide tray is configured to fit between the frame walls of the first and second frame platforms.

[0009] According to some embodiments, the pathology slide manufacturing system further includes a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray is configured to rest at the support wall based on the slide tray being positioned on the slide tray pedestal.

[0010] According to some embodiments, a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.

[0011] According to some embodiments, the slot comprises a tab adjacent to the spring and configured to provide a second force in a downward direction perpendicular to the first force.

[0012] According to some embodiments of the present disclosure, a slide tray pedestal includes: a first frame platform; a first slide platform mechanically connected to the first frame platform and having an upper surface positioned at a first acute angle relative to an upper surface of the first frame platform; and a second slide platform mechanically connected to the first slide platform and having an upper surface positioned at a second acute angle relative to the upper surface of the first frame platform, wherein the first acute angle is less than the second acute angle.

[0013] According to some embodiments, the slide tray pedestal further includes a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

[0014] According to some embodiments, the first and second slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.

[0015] According to some embodiments, the upper surface of the first frame platform and an upper surface of the second frame platform are parallel to each other.

[0016] According to some embodiments, the upper surface of the first frame platform and an upper surface of the second frame platform are positioned at a third acute angle less than the first and second acute angles.

[0017] According to some embodiments, the slide tray pedestal further includes a support wall at a lowest end of an upper surface of the first frame platform.

[0018] According to some embodiments, the slide tray pedestal further includes a frame wall positioned along an outside edge of the first frame platform.

[0019] According to some embodiments of the present disclosure, in a method of manufacturing a pathology slide in a slide processing system, the slide processing system includes: a mechanical arm; a gripper connected to the mechanical arm; a slide tray pedestal including: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray including: a frame configured to have a first edge removably rest on the upper surface of the first frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide, the method includes: gripping the slide tray with the gripper; placing, by the gripper, the slide tray on the frame platform of the slide tray pedestal; gripping a first slide at a first slot of the slots with the gripper, wherein the first slide is positioned at a first angle relative to an angle of the frame platform.

[0020] According to some embodiments, the method further includes: gripping a second slide of a second slot of the slots with the gripper, wherein the second slide is positioned at a second angle relative to the angle of the frame platform.

[0021] According to some embodiments, the frame platform includes: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

[0022] According to some embodiments, the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.

[0023] According to some embodiments, the frame platform includes a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray rests at the support wall after the slide tray is placed on the slide tray pedestal.

[0024] According to some embodiments, a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Non-limiting and non-exhaustive embodiments according to the present disclosure are described with reference to the following figures, wherein likereference numerals refer to like parts throughout the various views unless otherwise specified.

[0026] FIG. 1 is a flow diagram illustrating various operations that may occur in a pathology context or pathology environment, according to some embodiments;

[0027] FIG. 2A illustrates slide processing or manufacturing environment, according to some embodiments;

[0028] FIG. 2B illustrates an example of a slide after being manufactured, according to some embodiments;

[0029] FIG. 3A illustrates aspects of an example automated histology storage system and environment, according to some embodiments;

[0030] FIG. 3B illustrates an example automated histology storage system, according to some embodiments;

[0031] FIG. 3C shows further details of an example automated histology storage system, according to some embodiments;

[0032] FIG. 3D shows an example top view of the automated histology storage system, according to some embodiments;

[0033] FIG. 4A shows an example of a variety of slide racks, according to some embodiments,

[0034] FIG. 4B shows an example of a variety of slide trays, according to some embodiments;

[0035] FIG. 4C shows example input or output portals, according to some embodiments;

[0036] FIG. 4D shows further details of an example tray portal according to some embodiments;

[0037] FIG. 5 illustrates an example slide tray, according to some embodiments;

[0038] FIG. 6A is a front perspective view of a slide tray pedestal, according to some embodiments;

[0039] FIG. 6B is a cross-sectional view of a slide tray pedestal according to some embodiments;

[0040] FIG. 6C is a front perspective view of a slide tray and a slide tray pedestal, according to some embodiments;

[0041] FIG. 6D is a front perspective view of a slide tray and a slide carrier with a robotic arm, according to some embodiments;

[0042] FIGS. 6E and 6F show a side view of a slide tray and a slide tray pedestal with robotic arm, according to some embodiments;

[0043] FIG. 6G is a close-up view of the region A of FIG. 6D, according to some embodiments;

[0044] FIGS. 7A and 7B illustrate a mechanical arm or robotic arm gripper holding slides in various positions, according to some embodiments of the present disclosure;

[0045] FIG. 7C shows further details of a gripper finger, according to some embodiments;

[0046] FIGS. 8A-8C illustrates a mechanical arm or robotic arm gripper holding various objections in various positions, according to some embodiments;

[0047] FIGS. 7C and 7D show a side view of a slide tray and a slide carrier with robotic arm, according to some embodiments;

[0048] FIG. 7E is a close up view of a slide engagement mechanism, according to some embodiments;

[0049] FIGS. 8A-8C show a robotic arm, according to some embodiments; and

[0050] FIG. 9 is a flow diagram illustrating a method of processing a pathology slide in a slide processing system, according to some embodiments.DETAILED DESCRIPTION

[0051] Hereinafter, aspects of some example embodiments will be described in more detail with reference to the accompanying drawings, in which like reference numbers refer to like elements throughout. The present invention, however, may be embodied in various different forms, and should not be construed as being limited to only the illustrated embodiments herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the aspects and features of the present invention to those skilled in the art. Accordingly, processes, elements, and techniques that are not necessary to those having ordinary skill in the art for a complete understanding of the aspects and features of the present invention may not be described. Unless otherwise noted, like reference numerals denote like elements throughout the attached drawings and the written description, and thus, descriptions thereof will not be repeated. In the drawings, the relative sizes of elements, layers, and regions may be exaggerated for clarity.

[0052] It will be understood that, although the terms “first,” “second,” “third,” etc., may be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section described below could be termed a second element, component, region, layer or section, without departing from the spirit and scope of the present invention.

[0053] Spatially relative terms, such as “beneath,” “below,” “lower,” “under,” “above,” “upper,” and the like, may be used herein for ease of explanation to describe one element or feature’s relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or in operation, in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” or “under” other elements or features would then be oriented “above” the other elements or features. Thus, the example terms “below” and “under” can encompass both an orientation of above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein should be interpreted accordingly.

[0054] It will be understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer, or one or more intervening elements or layers may be present. In addition, it will also be understood that when an element or layer is referred to as being “between” two elements or layers, it can be the only element or layer between the two elements or layers, or one or more intervening elements or layers may also be present.

[0055] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. As used herein, the singular forms “a” and “an” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises,” “comprising,” "includes," and "including," when used in this specification, specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list.

[0056] As used herein, the term "substantially," "about," and similar terms are used as terms of approximation and not as terms of degree, and are intended to account for the inherent deviations in measured or calculated values that would be recognized by those of ordinary skill in the art. Further, the use of “may” when describing embodiments of the present invention refers to “one or more embodiments of the present invention.” As used herein, the terms "use," "using," and "used" may be considered synonymous with the terms "utilize," "utilizing," and"utilized," respectively. Also, the term “exemplary” is intended to refer to an example or illustration.

[0057] Pathology is the medical discipline, which attempts to facilitate the diagnosis and treatment of diseases, by studying tissue, cell, and fluid samples of patients. In many applications, tissue samples may be collected from patients, and processed into a form that can be analyzed by physicians (e.g., Pathologists), often under magnification, by physicians to diagnose and characterize relevant medical conditions based on the tissue sample.

[0058] FIG. 1 is a flow diagram illustrating various operations that may occur in a pathology environment or pathology system 100. For example, when a treating physician or medical provider identifies a patient for whom an analysis of a tissue or fluid sample may be beneficial for diagnosing or treating a medical condition, a tissue or fluid sample may be collected at operation 102. The patient’s identity may be collected and matched with the patent’s sample, and the sample may be placed in a sterile container and / or collection medium for further processing.

[0059] The sample may then be transported to a pathology accessioning laboratory at operation 104, where the sample may be received, sorted, organized, and labeled along with other samples from other patients, for further processing.

[0060] At operation 106, the sample may be further processed as part of a grossing operation. For example, an individual tissue sample or specimen may be sliced into smaller sections for embedding and subsequent cutting for assembly onto slides.

[0061] Then, at operation 108, the sample or specimen may be mounted or deposited on one or more glass slides. The preparation of slides may involve applying one or more reagents or stains to the sample, for example, in order to improve the visibility of, or contrast between, different parts of the sample.

[0062] In some instances, at operation 110, several slides, either during the reagent or staining processing, or after the processing is completed, may be assembled or collected in a case or folio. The case may, for example, be carefully labeled with the individual patient’s identifying information.

[0063] Between each of the operations 102 and 110, at operation 112, the sample, specimen, slide(s), may be transported within the medical facility, or between medical facilities (e.g., between a physician’s office and a laboratory), or may be stored between processing operations.

[0064] Once the processing of the samples and slides is completed, and a pathologist is ready to review the sample, the slides and / or the case(s) holding multiple slides corresponding to the patient may again be transported, at operation 112, to the pathologist. At operation 114, the pathologist may review the slides, forexample, under magnification using a microscope. An individual slide may be placed under the objective lens of the microscope, and the microscope and the slide may be manipulated and adjusted as the pathologist reviews the tissue or fluid.

[0065] Once the pathologist case completed the review of the slide, the pathologist may attempt, at operation 116, to form a medical opinion or diagnosis. Meanwhile, the sample or slides may once again be transported, at operation 112, to a longer term storage facility. In some instances, the sample or slides may be again transported, either before or after some storage period, to other physicians for further analysis, second opinions, and the like.

[0066] Thus, as can be appreciated based on the pathology process flow described above, the pathology system 100 involves a wide variety of processing operations. At each operation, there is an opportunity for tissue samples to be damaged or contaminated, or for information to be lost. Additionally, the processing of individual slides can be quite time consuming and complicated, and it can be difficult for laboratories to manage processing a high volume of patient samples simultaneously. Often times, there are also time constraints, since earlier diagnosis of disease may lead to better patient outcomes, yet each operation in the pathology system 100 presents an opportunity for delay.

[0067] Thus, embodiments according to the present disclosure may improve the efficiency and productivity of the pathology system 100.

[0068] FIG. 2A illustrates slide processing or manufacturing system 200. According to some embodiments the slide processing system 200 may exist as part of the pathology system 100 illustrated in FIG. 1 (for example, as part of operations 108 and 110).

[0069] As shown in FIG. 2A, the slide processing system 200 may include one or more mechanical arms 202. The mechanical arm 202 may be utilized to transfer a slide 204, having a specimen 206 deposited thereon, from a slide carrier 208 to one or more slide processing stations 210a-210e. Although FIG. 2A illustrates the slide processing system 200 includes five slide processing stations 210a-210e, embodiments according to the present disclosure are not limited thereto, and the slide processing environment may include fewer slide processing stations or additional slide processing stations without departing from the spirit and scope of embodiments according to the present disclosure. Each of the slide processing stations 210a-210e may be a mechanical apparatus configured to perform one or more specific processing operations during a process of manufacturing a slide. For example, the slide processing stations 210a-210e may be configured to apply different and unique reagents or stains to the specimen 206.

[0070] In some embodiments, the slide carrier 208 may operate as a temporary platform or storage area between processing operations and / or between transfers from one of the slide processing stations 210a-210e to another one of the slide processing stations 210a-210e and may be configured to accept one or more slides at a time.

[0071] Additionally, various other slide carriers 214a-214b may be utilized in one or more processing operations. Although two slide carriers 214a-214b are illustrated in FIG. 2A for the purpose of illustration, embodiments according to the present disclosure are not limited thereto, and the number and types of slide carriers that are utilized in any given manufacturing process may vary according to various embodiments depending on the slide processing stations 210a-210e and the particular processing operations involved. For example, in some instances, different slide processing stations 210a-210e may be designed to accommodate slide carriers with specific shapes or designs that are a function of the processing operation to be performed, the size and shape of the slide processing station, and the chemicals or treatments to be applied to the slide.

[0072] As discussed above, between each processing operation, the mechanical arm 202 may be configured to transfer the slide 204 between different components within the slide processing system 200. For example, the mechanical arm 202 may be configured to pick up the slide 204 from the slide carrier 208, by using a gripper 216, and transfer the slide 204 directly to one of the slide processing stations 210a- 21 Oe to be inserted therein. The corresponding slide processing station 210a-210e may then perform a processing operation on the slide 204 (for example, by applying a reagent or stain to the specimen 206). After the processing operation is completed, the mechanical arm 202 may remove the slide 204 from the slide processing station 210a-210e, and transfer the slide back to the slide carrier 208, or transfer the slide 204 to another one of the slide processing stations 210a-210e or to one of the slide carriers 214a-214b. The slide manufacturing process may continue on in this manner, with the mechanical arm 202 transferring the slide 204 between different components or stations within the slide processing system 200, until all of the manufacturing operations have been completed and the slide is ready to be stored or transferred out of the slide processing system 200 for subsequent pathology operations.

[0073] In order to physically pick up, maneuver, and / or manipulate the slide 204 during the various transferring operations, the mechanical arm 202 may include one or more grippers 216. Although FIG. 2A illustrates two opposing gripper fingers 216a and 216b (which may be collectively referred to as a gripper 216 herein), embodiments according to the present invention are not limited thereto, and someembodiments may include various gripper configurations or designs. Further details of an example structure of the gripper 216 according to some embodiments is illustrated and described in more detail below.

[0074] According to some embodiments, the mechanical arm 202 may be in electronic communication with a controller system 220 that is configured to control the movement and operation of the mechanical arm 202 and the gripper 216, in order to move the slide 204 between different locations and components within the slide processing system 200.

[0075] The controller system 220 may include a processor 222 and a memory 224, where the memory 224 stores instructions thereon, which, when executed by the processor 222, cause the processor 222 to send and receive electronic (e.g., data) signals to and from the mechanical arm 202 and the gripper 216, in order to control the movement and operation of the mechanical arm 202 (e.g., one or more actuators and motors of the mechanical arm 202) and the gripper 216 (e.g., one or more gripper fingers of the gripper 216). The instructions stored in the memory 224 may include, for example, instructions corresponding to one or more slide processing operations described herein, which may include, for example, placing a slide into or onto a slide carrier or processing machine or station, adjusting the gripping orientation of the gripper, and any other operations involved with manipulating and maneuvering a slide as part of the slide processing system 200, in order to manufacture a pathology slide, as described in more detail below.

[0076] FIG. 2B illustrates an example of a slide after being manufactured according to some embodiments. In some embodiments, the slide 204 includes a substrate 230 that may be formed of any suitable transparent material, such as glass. The sample or specimen (e.g., a slice of tissue, bodily fluid, cavity swap, etc.) 206 may be deposited on a front face of the slide 204, which is opposite a rear face of the slide 204. After depositing the specimen 206 onto the front face of the slide 204, the specimen may be treated with various manufacturing processes or operations, for example, by applying one or more reagents and / or stains to the specimen 206. A slip 232 may be placed over the specimen 206 to protect the integrity of the specimen 206 and prevent or reduce physical impact or contact with the specimen 206, and prevent or reduce contamination by foreign contaminants. Hereinafter, a slide having a tissue sample or specimen with a slip covering the specimen may be referred to as a “coverslipped” slide.

[0077] Additionally, a label 234 may be affixed to the front face of the slide at a location adjacent to the specimen and the slip. The label 234 may include various information that includes unique identifying information about the slide, to enable the content of the specimen, the patient, etc., to be identified. For example, the label234 may include a barcode or other alphanumeric characters operating as an identification for the slide.

[0078] The slip 232 may be relatively thin compared to the thickness of the substrate 230. The substrate 230 may have a relatively thin thickness relative to a length and a width of the substrate 230. In the present application, the width of a slide refers to the shorter distance across the front face of the slide, and the length of a slide refers to the longer distance across the front face of the slide. A width or narrow edge of a slide refers to an edge or side of the slide, not including the front face or the rear face, along the width direction. A length or long edge of a slide refers to an edge or side of the slide, not including the front face or the rear face, along the length direction. A top end of the slide refers to the end corresponding to the label 234, and the bottom end refers to the end opposite the top end.

[0079] FIGS. 3A-3D illustrate aspects of an example automated histology storage system and environment according to some embodiments. FIG. 3A illustrates a histology system and environment 300 according to some embodiments. According to some embodiments, the histology system and environment 300 may operate within, or as part of, a slide processing or manufacturing environment or system (e.g., the slide processing or manufacturing system 200). As illustrated in FIG. 3A, the histology system and environment 300 may include an automated histology storage system 302. As will be described in more detail below, the automated histology storage system 302 is configured to receive coverslipped slides at various stages of processing, and automatically organize and store, or perform one or more manufacturing operations on, the slides during the manufacture and processing of the slides within the histology system and environment 300.

[0080] The histology system and environment 300 may further include one or more processing stations or devices 304a-304c. The processing stations or devices 304a-604c are configured to receive slides with tissue samples or specimens (e.g., coverslipped slides), and perform one or more staining or reagent operations on the slides as part of the manufacturing process of the slides in preparation for further analysis by a pathologist as described above. Although three processing stations or devices 304a-304c are illustrated in FIG. 3A, a person having ordinary skill in the art would recognize the histology system and environment 300 is not limited to three processing stations or devices, and according to some embodiments, the histology system and environment 300 may include additional, or fewer, processing stations or devices without departing from the spirit and scope of embodiments according to the present disclosure.

[0081] A technician 306 may work within the histology system and environment 300 to initiate and monitor the processing operations of slides at the processingstations or devices 304a-304c, and to transfer slides between the processing stations or devices 304a-304c. The technician 306 may further transfer slides to the automated histology storage system 302 at various stages of the manufacturing process.

[0082] FIG. 3B shows further details of an example automated histology storage system 302 according to some embodiments. In particular, FIG. 3B illustrates an example front perspective view of the automated histology storage system 302 at a side that may be accessible to a technician (e.g., the technician 306). As will be described in more detail below, the automated histology storage system 302 operates as a mechanism to receive pathology slides and then, in an automated fashion, organize and store the slides, for example, between processing operations. Additionally, as will be described in more detail below, the automated histology storage system 302 may be capable of sorting stained slides, and assembling the slides into cases or folders for pathologist review, which is otherwise a labor and space intensive process that presents many opportunities for human error.

[0083] As will be described in more detail below, slides may be input into the automated histology storage system 302 by way of one or more racks or trays, which a user or technician may load into an open position in an input rack portal. In some instances, the slides may have a tissue sample or specimen, which may be stained, dried, and coverslipped prior to being inserted into the automated histology storage system 302. Embodiments according to the present disclosure are not limited thereto, however, and in some embodiments, the automated storage system 302 may be configured to receive slides at intermediate processing steps. Additionally, in some embodiments, one or more processing stations or devices (e.g., the processing stations or devices 304a-304c) may be enclosed or located within the automated histology storage system 302, such that one or more slide manufacturing processing operations may be executed by the automated histology storage system 302.

[0084] Individual slides may be labeled or marked with unique identifying information (e.g., in the form of a barcode or QR code). Once loaded into the automated histology storage system 302, the slides may be individually scanned, and then loaded into a temporary storage location, for example, a slide carrier cassette described in more detail below, to await being assembled into a case or folder that will be transferred to a different environment (e.g., a high resolution digital scanner or camera, or a pathologist) for further review and processing.

[0085] When it is time to assemble a case or folder, a user or technician may initiate a folder creation process by providing a user input to the automated histology storage system 302. The automated histology storage system 302 may then retrievethe relevant slides from one or more queues of slide carrier cassettes, and automatically assemble the case or folder with the relevant slides. The assembled case or folder may then be automatically transferred to an output portal to be retrieved by a user or technician.

[0086] As shown in FIG. 3B, the automated histology storage system 302 may include a plurality of input portals 310 (shown and described in more detail below) to enable a user or technician to insert trays or racks of slides into the automated histology storage system 302. That is, the input portals 310 operate as an interface for exchanging slides between users or technicians and the automated histology storage system 302. According to some embodiments, the input portals 310 may be configured to receive slides stored, secured, or housed in temporary trays or racks as will be described in more detail below.

[0087] In some embodiments, each portal may have the same width and height dimensions, and utilize the same mechanical and electrical connection interfaces with the automated histology storage system 302. Accordingly, the input portals 310 may be configured to be modular components that can be interchanged (e.g., removed, replaced, etc.) according to the operational desires or requirements of the automated histology storage system 302. For example, depending on the operations to be performed and the use case of the automated histology storage system 302, it may be desirable to utilize a first type of portal (e.g., a tray portal, discussed in more detail below) for a period of time, and then remove the first type of portal so that a second type of portal (e.g., a rack portal, discussed in more detail below) can be inserted into the space or slot previously occupied by the first type of portal.

[0088] The automated histology storage system 302 may further include one or more output portals 312 to enable the automated histology storage system 302 to provide one or more trays or racks of slides to a user or technician. That is, the output portals 312 may operate as an interface for users or technicians to retrieve trays or racks of slides from the automated histology storage system 302.

[0089] The automated histology storage system 302 may further include a user interface. According to some embodiments, the user interface may include a graphical display device or display panel 314 for display images or a graphical user interface. In some embodiments, the display panel 314 may include a touch screen capability to enable users to provide touch input. The automated histology storage system 302 may further include other mechanisms for providing user input, such as a keyboard, mouse, and one or more buttons.

[0090] Using the user interface, a user or technician may provide an input to the automated histology storage system 302 to indicate that the user desires to deposit a slide, folder of slides, or rack of slides, into the automated histology storage system302. For example, the user or technician may provide identifying information about the slides, and the storage mechanism (e.g., whether the slides are in a folder, a rack, etc.). The automated histology storage system 302, in some embodiments, may direct the user to a particular input portal 310 for depositing the slides. Once deposited into the input portal 310, as will be described below, the automated histology storage system 302 may proceed to organize, sort, and assemble the slides into one or more storage queues until the user requests that they be retrieved.

[0091] For example, when it is desirable to retrieve a slide, folder of slides, or rack of slides from the automated histology storage system 302, a user or technician may provide an input to a user interface of the automated histology storage system 302 to request certain slides be retrieved. As will be described in more detail below, in response to a retrieval request, the automated histology storage system 302 may identify the corresponding slides, retrieve them from a storage queue, and insert the slides into one of the output portals 312.

[0092] According to some embodiments, the user interface may enable the user, for example, to request slides to be retrieved and / or assembled into one or more trays or racks. The slides may be stored in a variety of locations or slide carrier cassettes within the automated histology storage system 302. For example, some of the requested slides may be stored in one location or slide carrier cassette and other slides may be stored in different locations or slide carrier cassettes. According to some embodiments, the user interface may enable the user to provide information about the characteristics of slides to be retrieved. For example, the user may be enabled to request all slides corresponding to a particular patient, all slides corresponding to a plurality of patients, or a subset of slides for a particular patient or group of patients that have certain characteristics (e.g., tissue sample from a certain part of the patient’s body, or having certain stain or reagent characteristics, etc.). In response to the user input, the automated histology storage system 302 may proceed to retrieve relevant slides from the variety of storage locations within the automated histology storage system 302, and assemble them into one or more trays or racks, while not including or retrieving any slides that do not fit the criteria of the request from the user.

[0093] In some embodiments, the automated histology storage system 302 may further include one or more service doors 316. In some embodiments the service doors 316 may be transparent (or have transparent regions) to enable a user or technician to observe the inside of the automated histology storage system 302. Additionally, the service doors 316 may be configured to be opened in order to enable servicing or repair of components within the automated histology storage system 302.

[0094] FIG. 3C shows further details of an example automated histology storage system 302 according to some embodiments. In particular, FIG. 3C illustrates an example top front perspective view of the automated histology storage system 302 according to some embodiments. As illustrated in FIG. 30, the automated histology storage system 302 may include a mechanical or robotic arm 320. The mechanical arm 320 may be the same as or similar to the mechanical arm 202 described above, and some repeated or duplicative description thereof may be omitted. The mechanical arm 320 may be configured to retrieve slides, slide folders, and slide racks from the input portals 310, manipulate individual slides while organizing and assembling them in storage racks or queues, and then retrieve slides, folders, or racks from storage locations and deposit them in output portals 312. The retrieval, manipulation, and storage operations of the mechanical arm 320 may be executed in response to user input (e.g., by way of the user input interface and the graphical display panel 314), individual data corresponding to each slide, and one or predetermined handling protocols.

[0095] The automated histology storage system 302 may further include one or more slide carrier queues 324. The slide carrier queues 324 may be capable of storing a plurality of racks of slides, described in more detail below. Additionally, although FIG. 3C illustrates the slide carrier queues 324 being configured in a planar configuration of rows and columns of cavities for storing slides, embodiments according to the present disclosure are not limited thereto, and in some embodiments, the slide carrier queues 324 may be configures in a cylindrical shape (or generally polygonal shape in a top or plan view), and the cylindrical shape may be configured to be rotated, and different levels or rows may be modular in that they can be added or removed as desired.

[0096] Additionally, according to some embodiments, the automated histology storage system 302 may include a tool change shelf or rack 330. The tool change rack 330 may be configured to hold or store a plurality of different tools or grippers for use by the mechanical arm 320. In some embodiments, the automated histology storage system 302 may be configured to automatically (e.g., without human involvement) change the tool or gripper being utilized by the mechanical arm 320 depending on the operation being performed. For example, a first type of gripper may be utilized for removing slide trays or racks (e.g., slide carrier cassettes) from an input portal 310, but a different tool or gripper may be utilized for manipulating individual slides within the automated histology storage system 302. Thus, in some embodiments, between operations with slides, the automated histology storage system 302 may send an electronic signal to the mechanical arm 320 to cause the mechanical arm 320 to remove a first tool or gripper and store it in the rack 330, andthen attach a second tool or gripper to the mechanical arm 320 that is stored on the rack 330. As a person having ordinary skill in the art would recognize, embodiments according to the present disclosure are not limited to two grippers or tools, however, and any suitable number of tools or gripper configurations may be utilized according to the design and configuration of the automated histology storage system 302.

[0097] FIG. 3D shows an example top view of the automated histology storage system 302 according to some embodiments. As shown in FIG. 3D, the automated histology storage system 302 may include a working platform or workstation 340 to be utilized by the mechanical arm 320 to manipulate and process slides within the automated histology storage system 302. According to some embodiments, various components may be fixed to the workstation 340 (or other locations within the automated histology storage system 302. For example, according to some embodiments, a slide carrier, slide tray carriage, or the like, described in more detail below may be fixed to the workstation 340. Additionally, the workstation 340 may include various sensors, for example, cameras, barcode readers, etc. for identifying aspects of components or slides within the automated histology storage system 302. In some embodiments, the workstation 340 may further include one or more rack carriage nests and / or one or more tray carriage nests, which will be described in more detail below. The rack carriage nests and tray carriage nests may operate as intermediate platforms for enabling the mechanical arm 320 to work with and manipulate slides, trays of slides, and racks of slides. Further details of some components that may be mounted to the workstation 340 will be described below.

[0098] As shown in FIG. 3D, the automated histology storage system 302 may further include or be electrically connected to a control system 350. The control system 350 may include a processor 352 and a memory 354 coupled to (e.g., in electronic communication with) the processor 352. The memory 354 may store instructions that, when executed by the processor 352, cause the automated histology storage system 302 to execute various operations as described herein. For example, the instructions stored on the memory 354, when executed by the processor 352, may send one or more signals to the user interface to receive and display data or information to / from the user. Similarly, the instructions stored on the memory 354, when executed by the processor 352, may control or change the position or configuration of the mechanical arm 320 and / or the gripper of the mechanical arm 320 (for example, to pick up and manipulate slides, folders, trays, racks, etc.).

[0099] The control system 350 may further be in electronic communication (by way of a wired or wireless communication channel) with a network 360 (e.g., a local area network (LAN), private wide area network (WAN), and / or public wide areanetwork such as, for example, the Internet). In some embodiments, the control system 350 may be configured to receive or transmit signals to external components or computer systems that are also connected to, or in electronic communication with, the control system 350 by way of the network 360.

[0100] In some embodiments, a database 362 may be connected to the control system 350, for example, through the network 360. The database 362 may store data corresponding to unique identifying information about individual slides, groups of slides, patient data, tissue sample data, processing operation data, and the like. In some embodiments, the database 362 may be remote with respect to the automated histology storage system 302, or the database 362 may be local or housed within the automated histology storage system 302.

[0101] Within the histology system and environment 300, various slide storage devices may be utilized to rest or store slides during processing.

[0102] For example, for certain advanced staining processes or applications, slides may be stored in racks or baskets in which individual slides can be arranged in a vertical orientation and slid into individual slots sequentially in front or behind each other. The racks can then be utilized to transport slides to and from processing machines, or in some instances, may be inserted into processing machines to enable staining or reagent process operations to be performed.

[0103] FIG. 4A shows example racks 402a-402e, which are all generally capable of storing individual slides in a vertical orientation with the front and rear faces of the slides facing toward the adjacent slides in front or behind. As may be apparent, however, each of the slide racks 402a-402e has a similar shape or configuration, yet each individual design has a different form factor. For example, different vendors or processing operations may produce or utilize racks with slightly different shapes or form factors for a variety of reasons.

[0104] Thus, it may be difficult or time consuming for an automated histology storage system 302 utilizing a mechanical arm 320 to pick up and manipulate a variety of different racks with different form factors, since each different form factor may have different locations, handles, or protrusions at which a gripper of the mechanical arm 320 may grip the racks.

[0105] As a person having ordinary skill in the art would recognize, the example rack form factors illustrated in FIG. 4A is not intended to be limiting, and various other form factors may be utilized. Rather, the examples illustrated in FIG. 4A are merely intended to convey the concept that embodiments according to the present disclosure can accommodate a wide variety of a plurality of different rack form factors.

[0106] Similarly, in other staining processes or applications, slides may be stored in planar folders or trays, where individual slides may be arranged, for example, in rows or columns and the front and back faces are co-planar with each other. Like the racks described above, the trays of slides can be utilized to transport slides to and from processing machines.

[0107] FIG. 4B shows example slide trays or folders 404a-404g, which are all generally capable of storing individual slides in a planar orientation, for example, with slides arranged in rows and columns and in which front and back faces of slides are co-planar. As may be apparent, however, each of the trays 404a-404g has a similar shape or configuration, yet each individual design has a different form factor. For example, similar to the racks discussed above, different tray manufacturers may utilize different form factors for different applications for a variety of reasons.

[0108] Thus, as is the case with the varying shapes of racks, the varying shapes of the trays may make it difficult for an automated histology storage system 302 using a mechanical arm 320 to pick up and manipulate a variety of different trays that all have different form factors, since the locations for picking up and manipulating the trays with the gripper of the mechanical arm 320 may vary between different form factors.

[0109] As a person having ordinary skill in the art would recognize, the example tray form factors illustrated in FIG. 4B is not intended to be limiting, and various other form factors may be utilized. Rather, the examples illustrated in FIG. 4B are merely intended to convey the concept that embodiments according to the present disclosure can accommodate a wide variety of a plurality of different tray form factors.

[0110] Thus, as will be described below, embodiments according to the present disclosure provide mechanisms to enable the automated histology storage system 302 to receive, pick up, manipulate, and store slides from a wide variety of racks and trays that may have different form factors, without necessarily requiring the mechanical arm 320 to change gripping mechanisms for each varying form factor.

[0111] In the present disclosure and claims, the term “slide holder” may be utilized to refer collectively to either slide trays or slide racks. That is, a “slide holder” according to the present disclosure and claims refers to a component that is configured to physically hold slides in slide slots or cavities, either in a vertical orientation (as in the case of slide racks illustrated and described with respect to FIG. 4A) or a planar orientation (as in the case of slide trays or folders illustrated and described with respect to FIG. 4B).

[0112] FIG. 4C shows example input or output portals according to some embodiments. As described with respect to FIGS. 3A to 3D, the input and outputportals 310 and 312 may operate as an interface mechanism to enable users or technicians to insert slides into the automated histology storage system 302. As shown in FIG. 40, the automated histology storage system 302 may include a tray portal 410a, which may be the same as or similar to the input portal 310 and / or the output portal 312 described above with respect to FIGS. 3A to 3D. The tray portal 410a may be capable of receiving slide trays (e.g., which are the same as or similar to the trays 404a-404g described above).

[0113] Similarly, the automated histology storage system 302 may include a rack portal 410b, which may be the same as or similar to the input portal 310 and / or the output portal 312 described above with respect to FIGS. 3A to 3D. The rack portal 410b may be capable of receive slide racks (e.g., which are the same as or similar to the racks 402a-402f described above).

[0114] According to some embodiments, the tray portal 410a and the rack portal 410b may have the same or similar external dimensions. For example, the tray portal 410a and the rack portal 410b may have the same or similar height H1 , width W1 , and / or depth D1 . Additionally, according to some embodiments, the tray portal 410a and the rack portal 410b may have the same or similar mechanical mounting hardware for securing the portals to the automated histology storage system 302. Furthermore, according to some embodiments, the tray portal 410a and the rack portal 410b may have the same or similar electrical connection mechanisms for being electrically connected to the automated histology storage system 302.

[0115] Accordingly, the portals may operate as modular components of the automated histology storage system 302 to enable the portals to be swapped in or out of the automated histology storage system 302 according to the design, operation, or use case. For example, in some environments or use cases, it may be desirable to utilize only or primarily tray portals 410a. In other environment or use cases, it may be desirable to utilize only or primarily rack portals 410b. In some environments, it may be desirable to be able to change the configuration or number of different types of portals. Because the portals 410a and 410b may have the same or similar dimensions, it may be possible to configure or reconfigure the portals, and swap portals in and out, according to the design and operation of the automated histology storage system 302.

[0116] FIG. 4D shows further details of an example tray portal 410a according to some embodiments. As shown in FIG. 4D, the tray portal 410a includes four layers, tray levels, or portal slots although embodiments according to the present disclosure are not limited thereto. For example, in some embodiments, there may be additional layers or fewer layers without departing from the spirit and scope of embodiments according to the present disclosure. As shown in FIG. 4D, each level, or portal slot,may be configured to hold a tray carriage. Further details of the tray carriages will be described in more detail below, but each tray carriage may be configured to receive a tray of slides. Each tray carriage may have substantially the same external form factor such that the mechanical arm 320, and its gripping mechanism, can pick up and manipulate the tray carriage in substantially the same manner without requiring adjustment of gripping positions or gripper tools. As will be described in more detail below, each tray carriage may further have a cavity configured to receive a tray of slides. The interior form factor of the cavity may vary according to the design of the tray. Thus, while each of the different variety of trays may have a slightly different shape or form factor, the interior of the cavity of the tray carriages may conform to the shape of their corresponding tray. According to some embodiments, the interior cavity of the tray carriages may be keyed to their corresponding tray type, such that only they tray design corresponding to the individual tray carriage can fit properly in the interior cavity, and other tray designs cannot properly fit or be fully seated within the interior cavity of the wrong tray carriage.

[0117] By way of example, 4D illustrates a portal with three tray carriages 41 Sa- 416c in the bottom three layers or portal slots 414b-414d, and the top portal slot 414a is empty. The bottom tray carriage 416a includes a tray inside the internal cavity of the tray carriage 416a, while the other two tray carriages 416b and 416c are empty or vacant, meaning no trays are inside their respective interior cavities. As a person having ordinary skill in the art would recognize, the particular configuration illustrated in FIG. 4D is only for purposes of illustration, and depending on the usage and circumstances of the automated histology storage system 302, various portal slots and tray carriages may be occupied or vacant at various times.

[0118] As shown in FIG. 4D, the tray portal 410a may include a door 418 that can be opened to enable a user to place a tray into the portal 410a. In some embodiments, the user may first interact with the user interface (e.g., the display panel 314 shown in FIGS. 3A-3D) prior to inserting a tray into the portal 410a. For example, user interface may have a graphical interface for enabling the user to indicate that the user wishes to insert a tray into the automated histology storage system 302.

[0119] The automated histology storage system 302, in some embodiments, may be configured to sense whether or not any of the portals 410a, or portal slots or levels within one or more of the portals 410a, is currently vacant (e.g., does not currently have a tray inserted). For example, according to some embodiments, the automated histology storage system 302 may include one or more sensors (e.g., magnets, visual or non-visual wavelength light sensors, cameras, etc.), configured todetect whether or not a portal slot has a tray carriage, and whether or not a tray carriage is occupied by a tray.

[0120] In response to identifying an open portal or portal slot, the automated histology storage system 302 may identify whether or not a portal slot currently has a tray carriage inserted that is not occupied (i.e. , is vacant) by a tray. If the portal slot is empty (i.e., does not have a tray or a tray carriage inserted), the automated histology storage system 302 may transmit one or more signals to the mechanical arm to retrieve an empty tray carriage and insert the empty tray carriage into the empty portal slot. Prior to inserting the empty tray carriage into the empty slot, however, the automated histology storage system 302 may prompt the user to identify the type of tray to be inserted into the portal 410a. For example, the user may select the type of tray from a menu, or the user may provide unique identifying information about the tray (e.g., in the form of a barcode scan, etc.), to enable the automated histology storage system 302 to identify which tray carriage to select that will correspond to the tray to be inserted. In other embodiments, the automated histology storage system 302 may automatically identify the type of tray inserted into the portal 410a. For example, each portal may include a barcode reader, camera, RFID reader, NFC scanner or other device that is able to retrieve unique identifying information about the tray, including the type and interior and exterior form factors of the tray.

[0121] Similarly, if the portal 410a has portal slots with vacant tray carriages, but the vacant tray carriages do not correspond to the tray that the user wishes to insert into the portal 410a, the automated histology storage system 302 may be configured to sense, by way of one or more sensors, data stored in memory, and / or user input, that one of the tray carriages needs to be replaced with a tray carriage that matches the tray that the user wishes to insert. Accordingly, the automated histology storage system 302 may transmit one or more signals to the mechanical arm 320 to cause the mechanical arm 320 to remove one or more of the vacant tray carriages from the portal 410a, retrieve a tray carriage with an inner cavity that corresponds to the tray that the user desires to insert into the portal 410a, and insert the corresponding tray carriage into a vacant slot in the portal 410a.

[0122] Once the vacant tray carriage is ready to be filled with a tray, according to some embodiments, the automated histology storage system 302 may provide or display a graphical alert to the user regarding the availability and / or location of the proper vacant tray carriage. For example, in some embodiments the automated histology storage system 302 may display a message on a graphical user interface displayed on the display panel 314 to direct the user to the appropriate portal andportal slot. In some embodiments, the automated histology storage system 302 may display a light or other indicator at a portal slot.

[0123] As shown in FIG. 4D, tray carriages are configured to be moved laterally in and out of the portal 410a. According to some embodiments, however, the user may be prevented from entirely removing the tray carriage from the portal slot, and rather the tray carriage may only slide out of the portal to a fixed or predetermined limit that provides sufficient clearance to enable the user to insert the tray into the interior cavity of the tray carriage without removing the tray carriage. The mechanism for preventing the tray carriage from being entirely removed will be described in further detail below, but in some embodiments, the tray carriage may have one or more rails that are configured to be seated within and to slide along one or more slots or grooves, and a protrusion or peg at the back of the tray carriage may catch on the groove or the body of the portal 410a to prevent the tray carriage from being pulled all the way out of the portal 410a. Additionally, or alternatively, the slots or grooves along which the tray carriage slides may not extend entirely to the front edge of the portal 410a, but rather may be recessed within the portal 410a by a predetermined distance in order to prevent the tray carriage from being pulled all the way out of the portal 410a.

[0124] As described above, during the processing, manufacturing, and assembly of slides, it may be desirable to transfer slides from various manufacturing components or machines to other manufacturing components or machines. For example, tissue or fluid samples of individual slides may need to undergo multiple operations where various stains, reagents, or dyes are applied to the tissue or fluid in order to complete the manufacture of the slide prior to analysis and diagnosis by a pathologist. Embodiments according to the present disclosure may enable slides to be automatically (e.g., without human contact or human intervention) transferred from one component or processing environment to another component or processing environment.

[0125] For example, in some situations, multiple slides may be stored or positioned on a slide tray during the manufacturing process in between different manufacturing operations. FIG. 5 illustrates an example slide tray, according to some embodiments. According to some embodiments, a slide tray 500 includes one or more slide slots 502, each configured to hold a single slide. Although FIG. 5 illustrates the slide tray 500 including six slide slots 502a-502f, embodiments according to the present disclosure are not limited thereto. For example, according to various embodiments, the slide tray 500 may include additional slide slots 502 or fewer slide slots 502 according to the design and size of the slide tray 500.

[0126] The slots 502 may be located within a body or frame 503 of the slide tray 500. That is, the frame 503 may be located in a periphery or outside a footprint of the slots 502. According to some embodiments, the slots 502 may be located adjacent to each other, and may be aligned with each other, along a direction (e.g., the X-direction). The frame 503 may be positioned around the perimeter or periphery of the group of slots 502, such that two edges of the frame 503 extend in a first direction (e.g., the X-direction) at opposite sides of the group of slots 502, and two edges of the frame 503 extend in a second direction (e.g., the Y-direction), perpendicular to the first direction at opposite sides of the group of slots 502.

[0127] According to some embodiments, each slot 502 may include an opening that passes entirely through the slot 502. According to some embodiments, the opening may include a first portion that is a large opening area LOA corresponding to an area at which the slide may be positioned and secured. The large opening area LOA may have a width W2 that generally corresponds to the width of the slide to be inserted into the slot 502 (e.g., the slide WIDTH shown in FIG. 2B). For example, according to some embodiments, the width W2 may be sufficiently large to enable various designs or manufacturing tolerances of slides to fit within the large opening area LOA, but not larger than an amount that would enable to slide to move side-to-side by an amount greater than a threshold (e.g., a predetermined threshold) distance.

[0128] Similarly, the large opening area LOA may have a length L2 that generally corresponds to the length of the slide to be inserted into the slot 502 (e.g., the slide LENGTH shown in FIG. 2B0. For example, according to some embodiments, the length L2 may be sufficiently large to enable various designs or manufacturing tolerances of slides to fit within the large opening area LOA, but not larger than an amount that would enable to slide to move in a lengthwise direction by an amount greater than a threshold (e.g., a predetermined threshold) distance.

[0129] Within the large opening area LOA, the slot 502 may include a plurality of protrusions or supports 504. For example, as shown in FIG. 5, the slot 502 may include four supports 504a-504d corresponding to four comers of the slot 502, but embodiments according to the present disclosure are not limited thereto. For example, according to some embodiments, there may be additional supports 504 or fewer supports 504 without departing from the spirit and scope of embodiments according to the present disclosure. In some embodiments, the supports 504 may include one or more supports extending along lengthwise edges of the slots 502 and / or one or more supports extending along widthwise edges of the slots 502. Additionally, in some embodiments, one or more supports 504 may extend acrossthe slot 502 (e.g., across the slot in the width direction, from one side to the other, or across the slot in the length direction, from one side to the other).

[0130] The supports 504 may operate to provide a platform or support structure to prevent the slide from passing entirely through the slot 502 when the slide is placed in the slide tray 500. At the same time, according to some embodiments, the slot 502, outside the footprint of the supports 504 may be open to allow a portion of a slide tray pedestal to pass through the slot 502 as described in more detail below.

[0131] Additionally, according to some embodiments, each slot 502 may include one or more springs 506 at a lengthwise end of the slot 502. For example, in some embodiments, each slot 502 may include two springs 506a and 506b rotated 180 degrees with respect to each other with respect to a central axis of the slot 502 in a lengthwise direction. Each spring 506 may include one or more mounting locations (e.g., at the central axis of the slot 502), where the spring 506 is mechanically connected to the frame 503 of the slide tray 500. Each spring 506 may further include one or more disconnected ends that is not connected to the frame 503 of the slide tray 500 or the edge of the slot 502, and which may be free-floating within the area of the large opening area LOA of the slot 502. In other embodiments, the spring 506 may be mechanically connected to the frame 503 of the slide tray 500 or the slot 502 at both ends, with a central area that is separated or spaced apart from the frame 503 of the slide tray 500. Additionally, in some embodiments, the springs 506 may be configured in the shape of a coil spring that is mounted to an edge of the slot 502.

[0132] According to some embodiments, the spring 506 may be configured to apply a lateral pressure against a first edge of the slide in the Y-direction when the slide is placed in the slot 502, such that a second edge of the slide (opposite the first edge of the slide) is pressed against a back wall 508 of the slot 502.

[0133] According to some embodiments, the slot 502 may further include one or more tabs 510 at a same edge of the slots 502 as the springs 506. According to some embodiments, the tabs 510 may be positioned at comers of the slot 502 and may overlap or extend partially over an upper surface of the large opening area LOA to prevent the slide from moving in the Z-direction when placed in the slot.

[0134] According to some embodiments, the slot 502 may further include a small opening area SOA adjacent to the large opening area LOA. The small opening area SOA may be located adjacent to a side of the large opening area LOA that is opposite the spring 506. According to some embodiments, the small opening area SOA may have a width (e.g., in the X-direction) that is less than the width W2 of the large opening area LOA. According to some embodiments, the width of the small opening area SOA may be large enough to accommodate a width of a gripper finger(or a portion of a gripper finger). Additionally, a length of the small opening area SOA (.e.g., in the Y-direction) may be large enough to accommodate a gripper finger (or a portion of the gripper finger). Thus, the small opening area SOA may have a size large enough to accommodate a gripper finger (or a portion of the gripper finger) such that the gripper finger has sufficient space or room to push against and / or grip the slide, as discussed in more detail below.

[0135] According to some embodiments, as discussed above, a robotic arm may be utilized, in conjunction with a gripper, to pick up, manipulate, and move slides as part of a slide manufacturing process. In some instances, however, because of the fragility of slides, and potentially tight tolerances between slides in an individual tray, it may be difficult for gripper fingers to grip slides without the slide tray or adjacent slides interfering with the gripping. For example, it may be difficult for a gripper finger to reach into the slot 502 and pick up a slide without damaging the slide while also obtaining a secure grip on the slide. Accordingly, some embodiments according to the present disclosure may utilize a slide tray pedestal to support a slide tray while also propping individual slides up at different angles to improve gripping access for gripping the slides.

[0136] For example, FIG. 6A is a front perspective view of a slide tray pedestal 600, according to some embodiments. A slide tray pedestal 600 according to some embodiments may be configured to have a slide tray (e.g., the slide tray 500) placed thereon to enable a robotic arm to more-easily access and pick up individual slides on the slide tray.

[0137] According to some embodiments, the slide tray pedestal 600 may be configured to be mounted or secured to a work surface 602 by way of one or more mounting brackets 604. According to some embodiments, the slide tray pedestal 600 may include one or more mounting brackets at opposite sides of the slide tray pedestal 600. The mounting bracket 604 may include, for example, a hole or opening, through which a bolt or screw may be utilized to mechanically secure the slide tray pedestal 600 to the work surface 602.

[0138] The slide tray pedestal 600 may further include one or more frame platforms 610 configured to support the frame (e.g., the frame 503) of the slide tray (e.g., the slide tray 500). According to some embodiments, the one or more frame platforms 610 may be positioned at outside (e.g., opposite) edges of the slide tray pedestal 600 along a direction corresponding to an arrangement of adjacent slots of a corresponding slide tray. Additionally, according to some embodiments, the frame platforms 610 may be oriented at an angle 01 relative to a plane of the work surface 602 or relative to a plane that is perpendicular to the direction of the force of gravity and / or the Z-direction. Accordingly, a first end 612 of the frame platforms 610 mayhave a lower height than a second end 614 of the frame platforms 610. According to some embodiments, the frame platforms 610 may include a support wall 615 positioned at the first end 612 of the support platform to prevent a slide tray (e.g., the slide tray 500) from sliding off the slide tray pedestal 600 due to the angle 01 of the frame platforms 610 relative to the work surface 602.

[0139] Additionally, according to some embodiments, the slide tray pedestal 600 may include frame walls 616 positioned at outside edges of the slide tray pedestal 600 and extending above the surface or plane of the frame platforms to prevent lateral movement (e.g., in the X-direction) of the slide tray (e.g., the slide tray 500) when positioned on the slide tray pedestal 600.

[0140] The one or more frame platforms 610 may be supported by corresponding one or more support legs 618. Although FIG. 6A, for example, illustrates a single support leg 618 corresponding to each frame platform 610, embodiments according to the present disclosure are not limited thereto. For example, according to some embodiments, each frame platform 610 may include a plurality of support legs separated or spaced apart from each other (e.g., in the X-direction and / or the Y- direction). Additionally, according to some embodiments, the mounting brackets 604 may be connected to the support legs 618.

[0141] In some embodiments, the support legs may be connected to each other by way of a support beam or support rod 620 that extends between the support legs 618 and the frame platforms 610. The support beam 620 may have a plurality of angled slide platforms 630. The slide platforms 630 are arranged to correspond to the number and location of slots (e.g., the slots 502) of a corresponding slide carrier when the slide carrier is positioned on the slide tray pedestal 600. Although FIG. 6A illustrates the slide tray pedestal 600 including six slide platforms 630a-630f, embodiments according to the present disclosure are not limited thereto, and according to various embodiments, the slide tray pedestal 600 may include any suitable number of slide platforms 630 according to the size and design of the slide tray pedestal and the corresponding slide tray (e.g., the slide tray 500) designed to be utilized with the slide tray pedestal 600.

[0142] According to some embodiments, one or more support legs 618 may be integrally formed with a frame platform 630 as a single integrated unit or body. The support legs 618 and the frame platforms 630 may be mechanically connected to the support beam 620 such that a first frame platform 630 and / or a first support leg 618 may be connected to one end of the support beam 620, and a second frame platform 630 and / or a second support leg 618 may be connected to the other end of the support beam 620. Thus, according to some embodiments, the support beam 620may extend (e.g., in the X-direction) between multiple (e.g., two) frame platforms 630 at opposite ends of the support beam 620.

[0143] Each slide platform 630 may be aligned laterally along the support beam 620 with the adjacent slide platform 630. Each slide platform 630 includes a support surface (e.g., a planar support surface) 634 configured to provide a support structure for a corresponding slide when a slide tray (e.g., the slide tray 500) is placed on the slide tray pedestal 600.

[0144] According to some embodiments, the angle of each slide platform 630 and / or the support surface 634 may vary with respect to that of adjacent slide platform(s). For example, as illustrated in FIG. 6A, the angle of the support surface 634 of the slide platforms 630a-630f may alternate along a direction (e.g., the X- direction), between a first angle and a second angle, relative to the angle 01. For example, the first angle may be greater (e.g., steeper) than the second angle. Accordingly, when slides are supported or propped up by the corresponding support surface 634, as will be illustrated and described in more detail below, the angle of the slides will vary between adjacent slides to allow additional room or clearance for slides to be picked up and / or manipulated by a gripper. Although FIG. 6A illustrates the angle of the support surfaces 634 alternating between two angles for each adjacent slide platform 630, embodiments according to the present disclosure are not limited thereto. For example, according to some embodiments, the number of varying angles may be any suitable number between two and n, where n is a whole number equal to the number of slide platforms 630.

[0145] FIG. 6B is a cross-sectional view of the slide tray pedestal 600 according to some embodiments. As discussed above, and as shown in FIG. 6B, the frame platforms 610 may be positioned or formed such that an upper surface or plane of the frame platforms 610 are angled at an acute angle 01 relative to a plane of the work surface 602. Accordingly, when a slide tray (e.g., the slide tray 500) is placed on the frame platforms of the slide tray pedestal 600, the slide tray will tend to move in the Y-axis direction toward the support walls 615 due to the force of gravity.

[0146] Additionally, as discussed above with respect to FIG. 6A, a plurality of slide platforms 630 may extend above the frame platforms 610 at different angles relative to each other and relative to the angle of the frame platforms 610. For example, a first slide platform (shown in FIG. 6B as slide platform 630f) may be angled at an acute angle 02 relative to the frame platforms 610. Thus, the combination of the angles 01 and 02 may equal the angle between the first slide platform (e.g., the slide platform 630f) and the work surface 602. Collectively, the angles 01 and 02 may be referred to herein as an angle i.

[0147] A second slide platform (shown in FIG. 6B as slide platform 630e) may be angled at an acute angle 03 relative to the first slide platform (e.g., slide platform 630f). Thus, the combination of the angles 01, 02, and 03 may equal the angle between the second slide platform (e.g., the slide platform 630e) and the work surface 602. Additionally, collectively, the angles 01, 02, and 03 may form an acute angle relative to the work surface 602. Collectively, the angles 01, 02, and 03 may be referred to as an angle [32.

[0148] Although FIG. 6A illustrates the slide platforms 630 as having a planar upper surface, embodiments according to the present disclosure are not limited thereto. For example, according to some embodiments, the slide platforms may be formed as protrusions in various configurations of pillars or protrusions that extend above the upper surface of the frame platform 610, such that when a slide is positioned on a corresponding slide platform, a bottom surface of the slide is angled at the corresponding acute angle 01 and 02.

[0149] As discussed above, the number of slide platforms 630 having the angle of [3i and the number of slide platforms 630 having the angle of [32 may vary according to the design of the slide tray pedestal 600 and the slide tray (e.g., the slide tray 500) designed to be accommodated on the slide tray pedestal 600. According to some embodiments, the slide platforms 630 having the angle of [3i may alternate with the slide platforms 630 having the angle of [32 between the frame platforms 610 on opposite sides of the slide tray pedestal 600. Additionally, according to some embodiments, some slide platforms 630 may be angled at an angle different from [3i and [32relative to the work surface 602. For example, according to some embodiments, there may be additional slide platforms 630 having an angle greater than or less than [3i and / or [32. That is, embodiments according to the present disclosure are not limited to only having two angles of slide platforms 630 and there may be additional angles according to some embodiments that are elevated or angled above frame platforms 610. Additionally, according to some embodiments, each slide platform 630 may be angled at a different angle from each slide platform 630 and / or frame platform 610 adjacent thereto.

[0150] FIG. 6C is a front perspective view of a slide tray and a slide tray pedestal, according to some embodiments. For example, FIG. 6C shows a perspective of a slide tray 500 being placed on the slide tray pedestal 600. As shown in FIG. 6C, the slides are supported by the slide tray 500 prior to the slide tray pedestal 600 being fully seated in the slide tray pedestal 600. In FIG. 6C, the front edge 640 of the slide tray 500 is in contact with the support walls 615 of the slide tray pedestal 600, but the sides of the frame 503 of the slide tray 500 are elevated above the frameplatforms 610. Accordingly, the slides are resting in a coplanar configuration in their corresponding slots 502.

[0151] FIG. 6D is a front perspective view of a slide tray and a slide carrier with a robotic arm, according to some embodiments. In contrast to FIG. 60, as shown in FIG. 6D, when the slide tray 500 is allowed to rest in the slide tray pedestal such that the frame 503 is in contact with the frame platforms 610, the slides are pushed up or elevated at the corresponding angle of the corresponding slide platform 630. For example, as shown in FIG. 6D, a first slide 642 is elevated or pushed up at a first angle (e.g., the angle i) relative to the work surface 602 by a first slide platform 630. A second slide 644 is elevated or pushed up at a second angle (e.g., the angle 2) relative to the work surface 602 by a second slide platform 630.

[0152] Accordingly, because the ends of the slides 642 and 644 are elevated at different angles relative to each other, a clearance is created underneath the slide 644 and above the slide 642 to allow a gripper 650 to grip the respective slides. For example, a right gripper finger 652 is capable of fitting behind or below the slide 644 due to the angle difference between the slides 642 and 644, to enable the right gripper finger 652 and a left gripper finger 654 to collectively squeeze against edges of the slide 642 without the right gripper finger 652 contacting or impacting the slide 644. Similarly, the left gripper finger 654 is capable of fitting in front or on top of the slide 642 due to the angle difference between the slides 642 and 644, to enable the right gripper finger 652 and the left gripper finger 654 to collectively squeeze against edges of the slide 644 without the left gripper finger 654 contacting or impacting the slide 642.

[0153] Additionally, as illustrated in FIGS. 6C and 6D, the slide tray 500 is configured to be place on and removed from the slide tray pedestal 600. In other words, the slide tray 500 is configured to be removably placed on the slide tray pedestal 600 such that, when the slide tray 500 is placed on the slide tray pedestal 600, outside edges (e.g., along the Y-direction) of the frame 503 of the slide tray 500 are configured to rest on the upper surfaces of corresponding frame platforms. When resting on the slide tray pedestal 600, the outside edges of the frame 503 of the slide tray 500 are caused to be positioned at an acute angle 01 relative to the work surface and / or a plane that is perpendicular to the direction of the force of gravity, such that the slide tray 500 tends to have a force (due to the force of gravity) in a direction toward the support wall 615. The support wall 615 may operate to prevent the slide tray 500 from sliding off of the slide tray pedestal 600. According to some embodiments, the angle 01 may be greater than or equal to zero degrees and less than, for example, 45 degrees.

[0154] FIGS. 6E and 6F show a side view of a slide tray and a slide tray pedestal with robotic arm, according to some embodiments. For example, FIG. 6E shows a side view of the slide tray pedestal 600 taken along the line B-B in FIG. 6D, in which the robotic arm / gripper 650 is engaging with and gripping the slide 642. As shown in FIG. 6E, because of the angle difference between the slide 642 and the slide 644, the gripper 650 is able to engage with and pick up the slide 642 without the gripper 650 contacting the slide 644. Similarly, FIG. 6F shows a side view of the slide tray pedestal 600 taken along the line B-B in FIG. 6D, in which the robotic arm / gripper 650 is engaging with and gripping the slide 644. As shown in FIG. 6F, because of the angle difference between the slide 642 and the slide 644, the gripper 650 is able to engage with and pick up the slide 644 without the gripper 650 contacting the slide 642.

[0155] FIG. 6G is a close-up view of the region A of FIG. 6D, according to some embodiments. As shown in FIG. 6G, the slide 644 is elevated at a steeper angle relative to the slide 642 due to the slide platform 630a having a relatively more-steep angle compared to the angle of the slide platform 630b when the slide tray 500 is resting on the slide tray pedestal 600. Additionally, each slide platform 630a and 630b includes retaining walls or barriers 660 on opposite lengthwise sides of the corresponding slide platform 630. The barriers 660 operate to prevent or reduce lateral movement along the X-axis of slides when the slide tray is resting on the slide tray pedestal 600.

[0156] A front edge 662 of the slides 642 and 644 are supported (e.g., in the Z- axis direction) by corresponding support platforms or support tabs 664 of their corresponding slot 502 of the slide tray 500. According to some embodiments, the support tabs 664 may be connected to and / or extend from a lower edge of a corresponding spring of the slide tray 500. The front edge 662 of the slides 642 and 644 may further be supported (e.g., in the negative Z-axis direction) by corresponding tabs 510 described above. The slides 642 and 644 may therefore be configured to hinge at the springs 506 when the slides 644 and 642 are elevated by the corresponding slide platforms 630.

[0157] FIGS. 7A and 7B illustrate a mechanical arm or robotic arm gripper holding slides in various positions, according to some embodiments of the present disclosure. As described above, according to some embodiments of the present disclosure, a mechanical arm with a gripper connected to an end of the mechanical arm may be configured to pick up and manipulate a slide resting on a slide tray and slide tray pedestal (e.g., the slide tray 500 and the slide tray pedestal 600) in a slide processing or manufacturing environment and / or an automated histology storage system.

[0158] FIG. 7A illustrates an example of a gripper 700 holding a slide in a first position, according to some embodiments. The gripper 700 may be the same as, or similar to (or one example of), the gripper 216 illustrated in the slide processing or manufacturing system 200 of FIG. 2A.

[0159] The gripper 700 according to some embodiments may be configured to grip or manipulate a slide in various positions or orientations, in order to enable the slide to interface with various different carriages, racks, machines, and the like, in the process of manufacturing or storing a pathology slide. Thus, embodiments according to the present disclosure may reduce the need to change gripers or tools, and / or utilize multiple mechanical arms to manipulate slides.

[0160] The gripper 700 may include two or more gripper fingers 702. Although FIG. 7A is described in the context of two gripper fingers 702a and 702b (which may collectively or individually be referred to as gripper fingers 702), embodiments according to the present disclosure are not limited thereto, and some embodiments may include additional gripper fingers 702 without departing from the spirit and scope of embodiments according to the present disclosure. In the present Specification, in some instances, the reference numeral 702 may be used to refer generally to each of the gripper fingers 702a and 702b (and any additional gripper fingers that may be utilized in some embodiments).

[0161] Additionally, according to some embodiments, the gripper 700 (or the mechanical arm to which the gripper 700 is attached) may include additional components configured to be utilized in connection with the manipulation and maneuvering of a slide during a slide manufacturing process. For example, in some embodiments, the gripper 700 (or the mechanical arm to which the gripper 700 is attached) may include a suction cup for creating a suction force against a slide. Additionally, in some embodiments, the gripper 700 (or the mechanical arm to which the gripper 700 is attached) may include a camera or sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the location of a slide, a slide carrier, a slide tray slot, a slide tray pedestal platform, a surface, or the like.

[0162] As shown in FIG. 7A, the gripper 700, using the gripper fingers 702a and 702b, may be configured to apply a pinching or inward force F1 toward a center line CENTER, which bisects the gripper 700 and the slide 704. The gripper fingers 702a and 702b may be positioned at an equal distance from the center line CENTER, and may be configured to move toward and away from the center line CENTER in coordination with each other (e.g., at a same speed and with a same force).

[0163] Referring to FIG. 7A, the gripper fingers 702a and 702b may be mounted to an actuator 706 configured to move the gripper fingers 702a and 702b inward (toward the center line CENTER) and outward (away from the center line CENTER)in order to open or close a space between the fingers 702a and 702b. The actuator 706 may be connected to a mechanical arm (e.g., the mechanical arm 202 shown in FIG. 2A), such that collectively, the mechanical arm, the actuator 706, and the gripper 700 may operate to manipulate a slide or move the slide from one location to another location. Each gripper fingers 702a and 702b may have the same or similar shape. For example, in some embodiments, the gripper finger 702b may be the same as the gripper finger 702a, except rotated 180 degrees relative to the gripper finger 702a, although embodiments according to the present disclosure are not limited thereto.

[0164] FIG. 7A illustrates the gripper 700 holding a slide in a first gripping mode or configuration, in which the gripper fingers 702a and 702b operate to provide a pinching force F1 widthwise (along an axis parallel to a width direction of the slide 704), against the long edges of the slide 704.

[0165] In the first gripping mode, the gripper 700 may be configured to pick up and / or maneuver the slide 704 in an orientation in which the center line between the gripper fingers 702a and 702b extends along the front face of the slide 704 in parallel with the long edges of the slide 204, with the center line bisecting the short edges of the slide 704.

[0166] The gripper fingers 702a and 702b may have a first portion 708 extending generally in a direction away from the actuator 706. For example, according to some embodiments, the first portion 708 of the gripper fingers 702a and 702b may extend in a direction parallel (or generally parallel) to the center line CENTER.

[0167] The gripper fingers 702a and 702b (e.g., the first portion 708 of the gripper fingers 702a and 702b) may have interior edges 710a and 710b, respectively, where the interior edges 710a and 710b are interior with respect to the opening or space between the gripper fingers 702a and 702b. According to some embodiments, the interior edges 710a and 710b may be elongated in a direction parallel to the center line CENTER and may define (or be located at) the interior edge the first portion 708 of each corresponding gripper finger 702a and 702b. In some embodiments, the interior edges 710a and 710b may extend parallel to each other, and may each have a groove therein, which are each adapted to receive the top (or bottom) of the long edges of a slide as shown in the first gripping mode shown in FIG. 7A. For example, the groove may have a width that is large enough to accommodate (e.g., greater than or equal to) the thickness of the slide 704. According to some embodiments, the groove may have tapered edges such that the width of the groove becomes smaller as the groove becomes deeper.

[0168] According to some embodiments, the interior edges 710a and 710b may have one or more notches 712 and 714. For example, a first notch 712 may be cutor machined into the interior edges 710a and 710b. The first notch 712 may be located at a first distance R1 from the bottom of the gripper finger (e.g., from the outside edge of the protrusion 718). Additionally, a second notch 714 may be cut or machined into the interior edges 710a and 710b. The second notch 714 may be located at a second distance R2, less than the first distance R1 , from the bottom of the gripper finger (e.g., from the outside edge of the protrusion 718).

[0169] The first notch 712 and the second notch 714 may be utilized for manually calibrating pickup distances for the mechanical arm / gripper 700 when picking up slides (e.g., in the first gripping position described above with respect to FIG. 7A). For example, a first pickup distance may be selected such that the width edge of the slide is aligned with the first notch 712 when more precise control of the slide is desired. A second pickup distance may be selected such that the width edge of the slide is aligned with the second notch 714 when less precision is desired, but spacing (e.g., when a slide is located deep within a fixture, rack, or carriage) is a consideration. Additionally, the second notch 714 may operate to reduce overall friction on the slide at the interior edges 710a and 710b, because less surface area of the gripper fingers 702a and 702b may be in contact with the slide, which may reduce the likelihood of damage to the slide caused by the gripper fingers.

[0170] When the pinching or inward force F1 is applied to the long edges of the slide, the gripper 700 may be able to pick up the slide 704 and move the slide around in 3-dimensional space.

[0171] FIG. 7B illustrates the gripper 700 holding a slide in a second gripping mode or configuration, in which the gripper fingers 702a and 702b operate to provide a pinching force or pressure F2 lengthwise (along an axis parallel to a length direction of the slide 704) against the short or width edges of the slide 704. That is, the pressure or force F2 may be in a direction toward (e.g., perpendicular to) the center line CENTER. In the second gripping mode, the gripper 700 may pick up and / or maneuver the slide 704 in an orientation in which the center line CENTER between the gripper fingers 702a and 702b may extend through the front and rear faces of the slide 704, halfway between the short edges of the slide 704. That is, a direction that is perpendicular or normal with respect to the planes of the front and rear faces of the slide 704 may be parallel to the center line CENTER, such that the front or rear face of the slide 704 faces toward the actuator 706.

[0172] The gripper fingers 702a and 702b may have a second portion 716 that extends from the first portion 708 at an angle parallel or generally parallel to the extension direction of the first portion 708. The second portion 716 may include a protrusion or tooth 718 that extends toward the center line CENTER, such that agroove or cavity 720 is created between the protrusion 718 and the main body of the second portion 716.

[0173] The ends of the second portion 716, including the groove 720, are both further away from the actuator 706, and further away from each other, compared to the interior edges 710a and 710b. Thus, a relatively wider space may be created between the ends of the second portion 716 (and the grooves 720), relative to the space between the interior edges 710a and 710b. Additionally, the groove 720 between the protrusion 718 and the main body of the second portion 716 may accommodate the width or short edges of the slide 704 such that the gripper 700 can pick up and / or maneuver the slide 704 with the front or rear face of the slide 704 facing toward the actuator 706.

[0174] According to some embodiments, the gripper fingers 702a and 702b may be mechanically connected to the actuator 706 through support brackets 722a and 722b. That is, each gripper finger 702a and 702b may be connected to a corresponding support bracket 722a and 722b, respectively. According to some embodiments, the gripper fingers 702a and 702b may be mechanically affixed to the brackets 722a and 722b using any suitable mechanical connection mechanism. For example, according to some embodiments, the brackets 722a and 722b may have a groove or slot, in which the gripper fingers 702a and 702b may be inserted or slid into, respectively. According to some embodiments, the gripper fingers 702a and 702b may be held in place by way of a compressive force and / or friction against the interior of the slot of the brackets 722a and 722b, respectively. Additionally, some embodiments may include a bracket, screw, clip, spring, or other mechanical retention mechanism to retain the gripper fingers within the corresponding slot or groove of the corresponding bracket.

[0175] Additionally, as illustrated in FIGS. 7A and 7B, and described in more detail below with respect to FIGS. 8A and 8B, each bracket 722a and 722b may include one or more gripping pads 723a and 723b, respectively. According to some embodiments, the gripping pads 723a and 723b may be formed of a flexible, compliant, and / or elastomeric material, having a higher friction (or coefficient of friction) compared to the material of the brackets 722a and 722b and / or the gripper fingers 702a and 702b. For example, according to some embodiments, the gripper pads may be formed of a rubber or elastomeric polymer material.

[0176] According to some embodiments, the gripping pads 723a and 723b may be positioned between the first portion 708 and the actuator 706. According to some embodiments, an interior surface of the gripping pads 723a and 723b may protrude past an interior surface of the brackets 722a and 722b in a direction toward the center line CENTER. Additionally, according to some embodiments, the grippingpads 723a and 723b may extend past an interior surface (e.g., a surface closest to the center line CENTER) of the gripper fingers 702a and 702b Thus, according to various embodiments, the gripping pads 723a and 723b may be configured to contact an object between the gripping pads 723a and 723b before the interior surfaces of the gripper fingers 702a and 702b contact each other, assuming the object has a uniform thickness in a direction perpendicular to the center line CENTER.

[0177] FIG. 7C shows further details of a gripper finger, according to some embodiments. Referring to FIG. 7C, the interior edges 710 of the gripper fingers 702 may have a groove formed therein. According to some embodiments, the groove may have a rounded surface 740 for contacting the slide 704, as illustrated in FIG. 7C. Alternatively, the groove may have a flat surface 740 for contacting the slide 704. The rounded or flat surface 740 may be the inside surface of the groove that provides lateral pressure (e.g., in the direction of the force F1) against the long edges of the slide 704. The rounded surface 740 may enable relatively improved grip position control. By contrast, the flat surface 740 may have relatively improved wear performance compared to the rounded surface, but may have slightly less grip control over the slide, since the slide might generally be capable of a greater degree of movement or angle inconsistency within the flat surface groove.

[0178] As described above, according to some embodiments of the present disclosure, a mechanical arm with a gripper connected to an end of the mechanical arm may be configured to pick up and manipulate a slide in a slide processing or manufacturing environment and / or an automated histology storage system. Additionally, a mechanical arm equipped with a gripper may be configured to pick up and manipulate racks or trays that carry slides, as well as rack carriages or tray carriages that carry racks and trays, respectively.

[0179] FIGS. 8A-8C illustrates a mechanical arm or robotic arm gripper holding various objections in various positions, according to some embodiments. As shown in FIGS. 8A-8C, the gripper 700, utilizing the gripper fingers 702 and the actuator 706, may be utilized to grip, manipulate, and maneuver a slide tray 800 (configured to hold individual slides in slots, as described above with respect to the slide tray 500), a slide tray carriage 802 (configured to hold a slide tray in a cavity thereof), a slide rack (configured to hold individual slides in a stacked arrangement), and / or a slide rack carriage 804 (configured to hold a slide rack in a cavity thereof) in three- dimensional space.

[0180] Depending on the object being picked up or maneuvered, the gripper 700 may rotate to an appropriate direction to apply the pinching force F3 against the object. For example, as illustrated in FIGS. 8A and 8B, the force F3 may be appliedin a generally vertical direction against opposite surfaces or edges of the slide tray 800 or slide tray carriage 802, respectively, in order to keep the slide tray 800 or slide tray carriage 802 upright and prevent slides or a slide tray from falling out of the slide tray 800 or slide tray carriage 802 during movement. The gripper 700 may rotate (for example, by 90 degrees) in order to pick apply the force F3 against opposite surfaces or edges of a slide rack or the slide rack carriage 804 in order to keep the slide rack or slide rack carriage 804 upright and to prevent slides or a slide rack from falling out of the slide rack or slide rack carriage 804 during movement.

[0181] Additionally, as illustrated in FIG. 8A and as discussed above with respect to FIG. 7A, the grippers 722a and 722b may include a gripper pad 723a and 723b, respectively. The gripper pads 723a and 723b may engage with (e.g., provide a compressive force against) the object being manipulated by the gripper 700 (e.g., the slide tray 800 or the slide tray carriage 802. According to some embodiments, the gripper pads 723a and 723b may be capable of providing an increased frictional force against the surface of the object being picked up or manipulated by the gripper 700 compared to the interior surface of the grippers 722a and 722b. Thus, the gripper pads 723a and 723b may provide a relatively improved gripping strength and stability.

[0182] FIG. 9 is a flow diagram illustrating a method of processing a pathology slide in a slide processing system, according to some embodiments. Although various operations are illustrated in FIG. 9 as part of the method of manufacturing a pathology slide in a slide processing system, embodiments according to the present disclosure are not limited to the operations illustrated in FIG. 9. For example, some embodiments may include additional operations or fewer operations without departing from the spirit and scope of embodiments according to the present disclosure.

[0183] As described above, the process starts and then, at operation 900, a gripper may grip a slide tray with a gripper. One or more slots of the slide tray may have slides positioned therein. At operation 902, the gripper places the slide tray on a frame platform of a slide tray pedestal. At operation 904, the gripper may grip a first slide at a first slot of the slide tray with the gripper, where the first slide is positioned at a first angle relative to an angle of the frame platform. At operation, 906, the gripper may grip a second slide of a second slot of the slide tray, where the second slide is positioned at a second angle relative to the angle of the frame platform. In some embodiments, before, during, or between operations 904 and 906, the gripper may remove various slides from the slide tray resting on the slide tray pedestal, and various processing operations may be performed on the slides before or after being placed on or removed from the slide tray resting on the slide traypedestal. In particular, each adjacent slide tray slot may be configured to be accommodated around a corresponding slide platform of the slide tray pedestal. That is, each slide platform of the slide tray pedestal may be configured to fit within a corresponding slot of the slide tray. The slide platforms adjacent to each other may be configured to tilt or angle the corresponding slide at an angle that is different from each adjacent slide. Accordingly, the varying angle between adjacent slides may enable the gripper to grip individual slides without bumping into or interfering with adjacent slides angled at different angles. According to some embodiments, at operation 908, the gripper may grip the slide tray and remove the slide tray from the slide tray pedestal. Once removed, the slide tray may be transported or manipulated in three-dimensional space to be transferred to another location in the slide processing environment.

[0184] Embodiments according to the present disclosure may include one or more characteristics as described in the following statements:1 . A pathology slide manufacturing system comprising: a slide tray pedestal comprising: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray comprising: a frame configured to have a first edge removably rest on the upper surface of the frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide.2. The pathology slide manufacturing system of statement 1 , wherein the frame platform comprises: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.3. The pathology slide manufacturing system of statement 2, wherein the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.4. The pathology slide manufacturing system of statement 2, wherein the first frame platform and the second frame platform each comprise frame walls and the slide tray is configured to fit between the frame walls of the first and second frame platforms.5. The pathology slide manufacturing system of statement 1 , further comprising a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray is configured to rest at the support wall based on the slide tray being positioned on the slide tray pedestal.6. The pathology slide manufacturing system of statement 1 , wherein a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.7. The pathology slide manufacturing system of statement 6, wherein the slot comprises a tab adjacent to the spring and configured to provide a second force in a downward direction perpendicular to the first force.8. A slide tray pedestal comprising: a first frame platform; a first slide platform mechanically connected to the first frame platform and having an upper surface positioned at a first acute angle relative to an upper surface of the first frame platform; and a second slide platform mechanically connected to the first slide platform and having an upper surface positioned at a second acute angle relative to the upper surface of the first frame platform, wherein the first acute angle is less than the second acute angle.9. The slide tray pedestal of statement 8, further comprising a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.10. The slide tray pedestal of statement 9, wherein the first and second slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.11 . The slide tray pedestal of statement 9, wherein the upper surface of the first frame platform and an upper surface of the second frame platform are parallel to each other.12. The slide tray pedestal of statement 9, wherein the upper surface of the first frame platform and an upper surface of the second frame platform are positioned at a third acute angle less than the first and second acute angles.13. The slide tray pedestal of statement 8, further comprising a support wall at a lowest end of an upper surface of the first frame platform.14. The slide tray pedestal of statement 8, further comprising a frame wall positioned along an outside edge of the first frame platform.15. A method of manufacturing a pathology slide in a slide processing system, the slide processing system comprising: a mechanical arm; a gripper connected to the mechanical arm; a slide tray pedestal comprising: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray comprising: a frame configured to have a first edge removably rest on the upper surface of the frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide, themethod comprising: gripping the slide tray with the gripper; placing, by the gripper, the slide tray on the frame platform of the slide tray pedestal; gripping a first slide at a first slot of the slots with the gripper, wherein the first slide is positioned at a first angle relative to an angle of the frame platform.16. The method of statement 15, further comprising gripping a second slide of a second slot of the slots with the gripper, wherein the second slide is positioned at a second angle relative to the angle of the frame platform.17. The method of statement 15, wherein the frame platform comprises: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.18. The method of statement 17, wherein the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.19. The method of statement 15, the frame platform includes a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray rests at the support wall after the slide tray is placed on the slide tray pedestal.20. The method of statement 15, wherein a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.21 . A gripper includes: an actuator; a first bracket and a second bracket coupled to the actuator, wherein the actuator is configured to move the first bracket and the second bracket toward and away from each other along a first direction and a second direction opposite the first direction; a first gripper finger connected to the first bracket and a second gripper finger connected to the second bracket; and a first gripping pad mounted on a first surface of the first bracket; a second gripping pad mounted on a surface of the second bracket, wherein the first surface and the second surface face each other.22. The gripper of statement 21 , wherein the first and second brackets each have a groove configured to accommodate the first and second gripper fingers, respectively.23. The gripper of statement 21 , wherein the first gripping pad and the second gripping pad extend past an interior surface of the first and second gripper fingers, respectively.24. The gripper of statement 21 , wherein the first and second gripping pads are formed of an elastomeric polymer or rubber material.25. The gripper of statement 21 , wherein the gripper fingers include one or more notches configured to engage a slide.26. The gripper of statement 25, wherein the first and second gripping pads are between the actuator and the one or more notches along a direction parallel to a center axis between the first bracket and the second bracket.

[0185] The electronic or electric devices and / or any other relevant devices or components according to embodiments of the present invention described herein may be implemented utilizing any suitable hardware, firmware (e.g. an applicationspecific integrated circuit), software, or a combination of software, firmware, and hardware. For example, the various components of these devices may be formed on one integrated circuit (IC) chip or on separate IC chips. Further, the various components of these devices may be implemented on a flexible printed circuit film, a tape carrier package (TCP), a printed circuit board (PCB), or formed on one substrate. Further, the various components of these devices may be a process or thread, running on one or more processors, in one or more computing devices, executing computer program instructions and interacting with other system components for performing the various functionalities described herein. The computer program instructions are stored in a memory which may be implemented in a computing device using a standard memory device, such as, for example, a random access memory (RAM). The computer program instructions may also be stored in other non-transitory computer readable media such as, for example, a CD- ROM, flash drive, or the like. Also, a person of skill in the art should recognize that the functionality of various computing devices may be combined or integrated into a single computing device, or the functionality of a particular computing device may be distributed across one or more other computing devices without departing from the spirit and scope of the exemplary embodiments of the present invention.

[0186] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and / or the present specification, and should not be interpreted in an idealized or overly formal sense, unless expressly so defined herein.

[0187] Although aspects of some example embodiments of a pathology slide manufacturing system and method have been described and illustrated herein, various modifications and variations may be implemented, as would be understood by a person having ordinary skill in the art, without departing from the spirit and scope of embodiments according to the present disclosure. Accordingly, it is to be understood that a pathology slide manufacturing system and method according tothe principles of the present disclosure may be embodiment other than as specifically described herein. The disclosure is also defined in the following claims, and equivalents thereof.

Claims

WHAT IS CLAIMED IS:1 . A pathology slide manufacturing system comprising: a slide tray pedestal comprising: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray comprising: a frame configured to have a first edge removably rest on the upper surface of the frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide.

2. The pathology slide manufacturing system of claim 1 , wherein the frame platform comprises: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

3. The pathology slide manufacturing system of claim 2, wherein the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.

4. The pathology slide manufacturing system of claim 2, wherein the first frame platform and the second frame platform each comprise frame walls and the slide tray is configured to fit between the frame walls of the first and second frame platforms.

5. The pathology slide manufacturing system of claim 1 , further comprising a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray is configured to rest at the support wall based on the slide tray being positioned on the slide tray pedestal.

6. The pathology slide manufacturing system of claim 1 , wherein a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.

7. The pathology slide manufacturing system of claim 6, wherein the slot comprises a tab adjacent to the spring and configured to provide a second force in a downward direction perpendicular to the first force.

8. A slide tray pedestal comprising: a first frame platform; a first slide platform mechanically connected to the first frame platform and having an upper surface positioned at a first acute angle relative to an upper surface of the first frame platform; and a second slide platform mechanically connected to the first slide platform and having an upper surface positioned at a second acute angle relative to the upper surface of the first frame platform, wherein the first acute angle is less than the second acute angle.

9. The slide tray pedestal of claim 8, further comprising a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

10. The slide tray pedestal of claim 9, wherein the first and second slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.11 . The slide tray pedestal of claim 9, wherein the upper surface of the first frame platform and an upper surface of the second frame platform are parallel to each other.

12. The slide tray pedestal of claim 9, wherein the upper surface of the first frame platform and an upper surface of the second frame platform are positioned at a third acute angle less than the first and second acute angles.

13. The slide tray pedestal of claim 8, further comprising a support wall at a lowest end of an upper surface of the first frame platform.

14. The slide tray pedestal of claim 8, further comprising a frame wall positioned along an outside edge of the first frame platform.

15. A method of manufacturing a pathology slide in a slide processing system, the slide processing system comprising:a mechanical arm; a gripper connected to the mechanical arm; a slide tray pedestal comprising: a frame platform; a plurality of slide platforms mechanically connected to the frame platform, wherein upper surfaces of adjacent slide platforms are positioned at angles that are different from each other and are acute relative to an angle of an upper surface of the frame platform; and a slide tray comprising: a frame configured to have a first edge removably rest on the upper surface of the frame platform; and a plurality of slots corresponding the slide platforms and configured to hold a pathology slide, the method comprising: gripping the slide tray with the gripper; placing, by the gripper, the slide tray on the frame platform of the slide tray pedestal; gripping a first slide at a first slot of the slots with the gripper, wherein the first slide is positioned at a first angle relative to an angle of the frame platform.

16. The method of claim 15, further comprising gripping a second slide of a second slot of the slots with the gripper, wherein the second slide is positioned at a second angle relative to the angle of the frame platform.

17. The method of claim 15, wherein the frame platform comprises: a first frame platform; and a second frame platform, wherein the first frame platform and the second frame platform are mechanically connected at opposite ends of a support beam.

18. The method of claim 17, wherein the slide platforms are positioned adjacent to each other along the support beam between the first and second frame platforms.

19. The method of claim 15, the frame platform includes a support wall at a lowest end of an upper surface of the frame platform, wherein an edge of the slide tray rests at the support wall after the slide tray is placed on the slide tray pedestal.

20. The method of claim 15, wherein a slot from among the slots comprises a spring at a first end of the slot and configured to apply a first force in a lateral direction toward a second end of the slot.

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