Pathological section scanner

Abstract

A pathological section scanner, comprising a loading and unloading mechanism (10) and a scanning mechanism (20). The loading and unloading mechanism (10) is used for transferring a section (400) to be scanned from a section rack (300) to a corresponding position on the scanning mechanism (20) for scanning by the scanning mechanism (20); the loading and unloading mechanism (10) comprises a conveying assembly (12) and a loading assembly (11) for fixing the section rack (300) accommodating the section (400) to be scanned; the loading assembly (11) is arranged on the conveying assembly (12) and can reciprocate in a first direction; the scanning mechanism (20) comprises a base (21), a stage assembly (22), and a scanning assembly (24) that is stationary relative to the base (21); and the stage assembly (22) is arranged on the base (21) and can reciprocate in a second direction to enable the scanning assembly (24) to scan the section (400) to be scanned, which is placed on the stage assembly (22).

Description

A pathological section scanner TECHNICAL FIELD

[0001] The present application relates to the technical field of pathological section scanning, in particular to a pathological section scanner. BACKGROUND

[0002] The pathological section scanner is a medical device capable of scanning the whole section information and all directions quickly, so as to convert the traditional material section information sealed in the section into digital section information. That is, it can digitize the tissue section in the fields of pathology, oncology, immunohistochemistry and cytology, and convert it into a high-resolution section image. It can help doctors to observe and diagnose diseases anytime and anywhere through the network without microscopes, and is conducive to realizing global online synchronous remote consultation or offline remote consultation.

[0003] However, the existing pathological section scanner usually includes a base, a stage assembly and a scanning assembly. In order to realize all-directional scanning of the section, the scanning assembly or the stage assembly usually adopts a multi-axis motion structure. However, to some extent, this makes the scanning area of the pathological section scanner occupy a large space, which is not convenient for carrying, and the like. In addition, the inventors have found in the actual research and application process that the scanning area is prone to vibrate during the scanning and / or movement of the scanning assembly, the scanning precision is difficult to control, and the imaging effect of the section is affected.

[0004] SUMMARY

[0005] The present application provides a pathological section scanner, which aims to at least solve one of the technical problems existing in the prior art. The present application also provides a pathological section scanner, which adopts the technical solutions described below:

[0006] The pathological section scanner includes a loading and unloading mechanism and a scanning mechanism;

[0007] The loading and unloading mechanism is used to move the to-be-scanned section on the section holder to the corresponding position of the scanning mechanism for scanning by the scanning mechanism. The loading and unloading mechanism includes a conveying assembly and a loading assembly for fixing a section holder containing a to-be-scanned section. The loading assembly is arranged on the conveying assembly and can move back and forth along a first direction.

[0008] The scanning mechanism includes a base, a stage assembly and a scanning assembly which is immovable relative to the base. The stage assembly is arranged on the base and can move back and forth along a second direction, so that the scanning assembly can scan the to-be-scanned section placed on the stage assembly.

[0009] The technical scheme provided by the embodiment of the application can have the following beneficial effects: the pathological section scanner is designed, the position of the scanning assembly is limited, and the scanning assembly is fixed relative to the base, that is, in the case that the scanning assembly is fixed, the object table assembly is moved in the second direction, and omnibearing alignment scanning of the section can be realized, linkage of multiple shafts is not needed, the overall structure is miniaturized, the relative movement between the object table assembly and the scanning assembly is more stable and accurate, the section can be more stably and accurately carried, the scanning precision of the pathological section scanner is improved, and digital imaging of the section is clearer.

[0010] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical scheme of the embodiment of the application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0012] Fig. 1 is a schematic structural diagram of one kind of pathological section scanner provided by the application;

[0013] Fig. 2 is a schematic structural diagram of another kind of pathological section scanner provided by the application;

[0014] Fig. 3 is a schematic structural diagram of the pathological section scanner in Fig. 2 from another angle;

[0015] Fig. 4 is a schematic structural diagram of the pathological section scanner in Fig. 2 after removing the shell;

[0016] Fig. 5 is a schematic structural diagram of the scanning device in Fig. 2;

[0017] Fig. 6 is a schematic diagram of the pathological section scanner in Fig. 1, in which the section rack is in a section moving-out station;

[0018] Fig. 7 is a schematic diagram of the pathological section scanner in Fig. 1, in which the section rack is in a section moving-in station;

[0019] Fig. 8 is a schematic diagram of part of the structure of the scanning device in Fig. 3;

[0020] Fig. 9 is a schematic diagram of part of the structure of the loading and unloading mechanism in Fig. 8;

[0021] Fig. 10 is a schematic diagram of the structure of the loading assembly and the section rack in Fig. 9;

[0022] Fig. 11 is an exploded schematic diagram of the loading assembly in Fig. 10;

[0023] Fig. 12 is a structural schematic view of the positioning assembly in Fig. 11;

[0024] Fig. 13 is an exploded schematic view of the material moving assembly in Fig. 8;

[0025] Fig. 14 is an exploded schematic view of the scanning mechanism in Fig. 8;

[0026] Fig. 15 is a partial schematic view of the scanning mechanism in Fig. 14;

[0027] Fig. 16 is a structural schematic view of the object table assembly in Fig. 15;

[0028] Fig. 17 is a structural schematic view of the storage device in Fig. 3;

[0029] Fig. 18 is a structural schematic view of the placing assembly in Fig. 17;

[0030] Fig. 19 is a partial schematic view of the placing assembly in Fig. 18;

[0031] Fig. 20 is an assembly schematic view of the partition plate, the adjusting member and the limiting member in Fig. 19;

[0032] Fig. 21 is an exploded schematic view of the partition plate, the adjusting member and the limiting member in Fig. 19;

[0033] Fig. 22 is a structural schematic view of the material moving mechanism in Fig. 17;

[0034] Fig. 23 is a structural schematic view of the gripper assembly in Fig. 22;

[0035] Fig. 24 is a structural schematic view of the transfer gripper in Fig. 23.

[0036] Label explanation: 100, scanning device; 10, loading and unloading mechanism; 11, loading assembly; 11a, accommodating groove; 111, loading seat; 1111, extension seat; 111a, base; 111b, first limiting part; 111c, second limiting part; 111d, front baffle; 111e, elastic structure; 111f, sliding rail structure; 112, positioning assembly; 1121, advancing structure; 11211, first driving piece; 11212, first transmission piece; 1122, positioning part; 11221, connecting part; 11222, buffer part 1123, first guide structure; 1124, first fixing piece; 1125, first limiting structure; 113, first detection piece; 114, cover body; 115, second detection piece; 12, conveying assembly; 12a, slice feeding station; 12b, slice moving-out station; 121, conveying track; 13, material moving assembly; 131, material moving clamping jaw; 1311, clamping jaw structure; 131a, first material moving clamping jaw; 131b, second material moving clamping jaw; 1312, rotating structure; 132, moving assembly; 1321, longitudinal moving assembly; 1322, vertical moving assembly; 1323, transverse moving assembly; 14, state recognition assembly; 20, scanning mechanism; 21, base; 22, object table assembly; 221, focusing table; 222, lifting table; 223, loading table; 224, fixing assembly; 2241, first clamping piece; 2242, second clamping piece; 2243, abutment part; 23, linear driving assembly; 24, scanning assembly; 25, first linear moving assembly; 26, second transmission piece; 27, illumination assembly; 28, image recognition assembly; 29, positioning assembly; 30, scanning rack; 31, accommodating chamber; 32, first opening; 33, second opening; 40, display panel; 200, storage device; 50, storage mechanism; 51, frame body; 51a, storage side; 51b, material moving side; 52, placing assembly; 522, partition plate; 5221, connecting section; 5222, support section; 52221, first support edge; 5223, notch groove; 5224, mounting groove; 5225, guide rail; 5226, fixing hole; 52a, storage groove; 523, adjusting piece; 5231, blocking part; 5232, second support edge; 5233, sliding groove; 5234, connecting hole; 524, limiting piece; 5241, horizontal section; 5242, vertical section; 55, detection assembly; 551, first sensor; 552, second sensor; 60, material moving mechanism; 61, clamping jaw assembly; 611, transfer clamping jaw driving piece; 612, transfer clamping jaw; 612a, first transfer clamping jaw; 612b, second transfer clamping jaw; 6121, horizontal part; 6122, vertical part; 6123, first recessed groove; 6124, first recessed groove; 6125, avoidance groove; 6126, gap groove; 62, displacement assembly; 621, longitudinal displacement assembly; 622, vertical displacement assembly; 623, transverse displacement assembly; 300, slice rack;301, first support portion; 302, second support portion; 400, slice. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0038] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0039] As shown in FIGS. 1, 2, 5, 6, 7 and 8, the present application provides a pathological slice scanner, which comprises a scanning device 100, the scanning device 100 comprises a loading and unloading mechanism 10 and a scanning mechanism 20, the loading and unloading mechanism 10 is used to transport a slice holder 300 containing a to-be-scanned slice 400 or the to-be-scanned slice 400 to the scanning mechanism 20, and the scanning mechanism 20 is used to scan the to-be-scanned slice 400 to obtain pathological information on the slice 400; in addition, the loading and unloading mechanism 10 can also move the scanned slice 400 on the scanning mechanism 20 out, which is not limited by the present application.

[0040] The slice 400 has a scanning area and a marking area, the scanning area has pathological tissues to be analyzed and a cover glass, and the marking area is provided with identity information recording related information of the slice 400, the identity information includes but is not limited to a two-dimensional code, a bar code or a handwritten mark, and is used to record the information source of the pathological tissues. The scanning mechanism 20 is mainly used to scan the pathological tissues to be analyzed to obtain the pathological information on the slice 400, but is not limited to reading the identity information to obtain the identity information on the slice 400, so that the identity information on the slice 400 can correspond to the pathological information one by one, and the identity information and the pathological information on the slice 400 are avoided from being confused.

[0041] In an optional embodiment, as shown in FIGS. 6, 7, 8 and 9, the loading and unloading mechanism 10 is used to transfer the to-be-scanned slice 400 on the slice rack 300 into the scanning mechanism 20 and transfer the scanned slice 400 back, which includes the conveying assembly 12 and the loading assembly 11 for fixing the slice rack 300 containing the to-be-scanned slice 400, the loading assembly 11 being arranged on the conveying assembly 12 and being able to reciprocate along the first direction, so that the transfer of the slice 400 can be realized quickly and accurately with less manual participation, and the manual participation process of the slice 400 during the transfer is also reduced, which not only reduces the labor cost, but also improves the working efficiency of the pathological slice scanner and greatly avoids the problem of damage of the slice 400 or fragments caused by manual participation.

[0042] The slice rack 300 is mainly used for storage of the slice 400 and provides a stable slice platform for the transfer of the loading and unloading mechanism 10, so that the slice 400 can be placed in the loading and unloading mechanism 10 for transfer through the slice rack 300. In addition, the slice rack 300 can be a general size designed by various manufacturers, and the lengths of slice racks 300 of different specifications can be the same or different.

[0043] In an optional embodiment, as shown in FIGS. 6, 7, 8, 14 and 15, the scanning mechanism 20 includes a base 21, a stage assembly 22 arranged on the base 21 and being able to reciprocate in a second direction, and a scanning assembly 24 which is stationary relative to the base 21, so that the scanning assembly 24 can scan the to-be-scanned slice 400 placed on the stage assembly 22. In this way, by limiting the position of the scanning assembly 24, the scanning assembly 24 is stationary relative to the base 21, and then the stage assembly 22 moves in the second direction to realize omnidirectional alignment scanning of the slice 400, without the need for multi-axis linkage, so that the overall structure of the scanning mechanism 20 can be miniaturized, and the relative movement between the stage assembly 22 and the scanning assembly 24 is more stable and accurate, which ensures that the slice 400 can be carried more stably and accurately, and is beneficial to improve the scanning accuracy of the pathological slice scanner, so that the digital imaging of the slice 400 is clearer. The scanning assembly 24 is used to scan the pathological tissue to be analyzed to obtain the pathological information on the slice 400.

[0044] In an alternative embodiment, the scanning assembly 24 comprises a plurality of microscopic objectives arranged in an array to form an array objective capable of covering the effective scanning width of the second direction over the width of the tissue on the slice 400 to be scanned. That is, when the pathological slice scanner is performing pathological analysis, the pathological tissue to be analyzed on the slice 400 and the cover glass are offset, and the scanning width of the array objective is greater than or equal to the sum of the width of the pathological tissue and the positional offset of the pathological tissue on the slice 400. In this way, the unidirectional movement of the slice 400 can be realized, and when passing through the scanning assembly 24, the scanning area of the array objective can cover all the parts of the slice to be scanned directly below the scanning assembly 24, ensuring that the full-range scanning of the slice 400 can be realized without moving the scanning assembly 24.

[0045] In an alternative embodiment, the second direction is perpendicular to the first direction, so that the conveying path of the slide rack 300 can be planned to make the internal space layout of the scanning device 100 as compact as possible, and the conveying path of the slide rack 300 is as short as possible, thereby saving the occupied space of the pathological slice scanner and improving the operation efficiency of the pathological slice scanner.

[0046] In an alternative embodiment, as shown in FIGS. 8-11, the loading assembly 11 comprises a positioning assembly 29112 and a loading seat 111 connected with the conveying assembly 12, the loading seat 111 is formed with a receiving groove 11a for placing the slide rack 300, and the positioning assembly 29112 is arranged in the receiving groove 11a to limit the position of the slide rack 300 in the receiving groove 11a, so that the pathological slice scanner can transfer different specifications of the slide rack 300 through the loading assembly 11. That is, when the pathological slice scanner scans the slice 400, the slide rack 300 conveying the slice 400 does not need to be limited to a specific length, thereby improving the versatility of the pathological slice scanner, and the structure is simple and convenient to operate, and has wide applicability.

[0047] In an alternative embodiment, the slide rack 300 of each specification has different or the same size, especially the length of the slide rack 300. Therefore, the loading assembly 11 of the present application can be applied to the conveying of different specifications of the slide rack 300 by the loading and unloading mechanism 10 in the pathological slice scanner, thereby avoiding the case that the loading and unloading mechanism 10 is only applicable to one specification of the slide rack 300, and further improving the versatility of the pathological slice scanner.

[0048] In an optional embodiment, as shown in FIGS. 9-12, the positioning assembly 29112 includes a pushing structure 1121 fixed on the loading seat 111 and a positioning part 1122 connected with the pushing structure 1121 and movably installed in the accommodating groove 11a and connected with the pushing structure 1121, so that the positioning part 1122 can abut against the side wall of the slice rack 300 under the driving of the pushing structure 1121 to form a limit. Wherein, the positioning part 1122 can move along the second direction under the driving of the pushing structure 1121 to limit the slice rack 300 in the accommodating groove 11a, so as to limit the slice rack 300, have a positioning effect, avoid the movement of the slice rack 300 relative to the loading seat 111, facilitate the safety of the slices 400 during the transfer of the slice rack 300, avoid the problem of fragmentation of the slices 400 in the slice rack 300, have a simple and reliable structure, and be convenient to operate, and improve the universality and repeatability of the operation process of the pathological slice scanner.

[0049] In an optional embodiment, the slice rack 300 is fixed in the accommodating groove 11a along the vertical direction, that is, the length direction of the slice rack 300 is consistent with the length direction of the accommodating groove 11a, and the slices 400 are vertically placed in the slice rack 300. In other words, the length direction of the slices 400 is substantially perpendicular to the length direction of the slice rack 300 and the accommodating groove 11a, and the positioning part 1122 is used to vertically fix the slice rack 300 in the accommodating groove 11a.

[0050] For example, the conveying assembly 12 has a slice feeding station 12a and a slice removing station 12b. When the pathological slice scanner needs to scan the slices 400 in the slice rack 300, the slice rack 300 containing the slices 400 is placed in the accommodating groove 11a along the vertical direction, and then the pushing structure 1121 drives the positioning part 1122 to move towards the slice rack 300, so that the positioning part 1122 abuts against the side wall of the slice rack 300 to press and limit the slice rack 300, and then the conveying assembly 12 conveys the loading assembly 11 containing the slice rack 300 to the slice removing station 12b, so that the material moving assembly 13 of the loading and unloading mechanism 10 can move the slices 400 on the slice rack 300 to the stage assembly 22 for scanning. After the slices 400 on the stage assembly 22 are scanned, the material moving assembly 13 moves the slices 400 back to the slice rack 300, so that the conveying assembly 12 can convey the scanned slice rack 300 back to the slice feeding station 12a. Through the positioning of the positioning assembly 29112, the slice rack 300 can be conveniently positioned and installed in the accommodating groove 11a, so as to ensure the accuracy of the relative position and facilitate the subsequent removal of a single slice 400 from the slice rack 300.

[0051] When the slide rack 300 needs to be taken out from the loading assembly 11, the advancing structure 1121 drives the positioning part 1122 to move away from the slide rack 300, so as to realize automatic loosening of the slide rack 300, so that the slide rack 300 can be taken out and accommodated in the accommodation groove 11a. The whole structure is simple and reliable, and the operation process is simplified and convenient. Not only can the working efficiency of the pathological section scanner be improved, but also the loading assembly 11 can be applied to different specifications of the slide rack 300, and different lengths of the slide rack 300 can be clamped, so that the versatility is high.

[0052] It should be noted that the loading assembly 11 of the present application can also be applied in other scenarios, such as conveying the slide rack 300, but is not limited to between the slide feeding station 12a and the slide moving-out station 12b. Herein, the present application does not enumerate one by one.

[0053] In an optional embodiment, the advancing structure 1121 includes a first driving member 11211 and a first transmission member 11212. The first driving member 11211 is installed on the loading seat 111, and the positioning part 1122 is in transmission connection with the first driving member 11211 through the first transmission member 11212, so that the positioning part 1122 can be abutted on the slide rack 300 under the driving of the first driving member 11211 to form a limit, so as to ensure that the slide rack 300 can be stably placed in the accommodation groove 11a, especially in the process of conveying the loading assembly 11 by the conveying assembly 12. The slide rack 300 is easy to slide, collide and the like in the accommodation groove 11a, which can cause damage to the slide 400.

[0054] In an optional embodiment, the positioning assembly 29112 includes a first guide structure and a first fixing member 1124. The first driving member 11211 is fixed on the loading seat 111 through the first fixing member 1124, one end of the first guide structure is fixedly connected with the positioning part 1122, and the other end of the first guide structure is in sliding connection with the first fixing member 1124. The positioning part 1122 can uniformly apply pressure to the slide rack 300 in combination with the first guide structure. The first guide structure not only limits the sliding track of the positioning part 1122, so that the positioning part 1122 is not easy to deviate in the sliding process, but also improves the stability of the positioning part 1122 in the sliding process in the accommodation groove 11a, and improves the abutting effect with the slide rack 300.

[0055] In an optional embodiment, the fixing member is provided with a second guide structure and a positioning mounting portion, the second guide structure and the positioning mounting portion are arranged at intervals along the height of the fixing member, the other end of the first guide structure is matched with the second guide structure, and the first driving member 11211 is mounted on the positioning mounting portion, so that the first driving member 11211 can drive the positioning portion 1122 to move along the guide direction of the first guide structure, and ensure that the positioning portion 1122 is not prone to deviation during movement. The second guide structure is matched with the first guide structure to limit the movement track of the first guide structure.

[0056] In an optional embodiment, the first driving member 11211 includes a driving motor, and the first transmission member 11212 includes a screw rod assembly including a screw rod and a sliding block. The output shaft of the driving motor is connected with the screw rod through a shaft coupling after passing through the mounting portion. The sliding block is fixed on the positioning portion 1122, so that the screw rod can drive the sliding block to slide along the guide direction of the first guide structure under the drive of the driving motor, and in turn drive the positioning portion 1122 to move towards or away from one side of the slicing rack 300, so that the positioning portion 1122 can compress or loosen the slicing rack 300. The structure is simple, and the occupied space is small.

[0057] It should be noted that the first transmission member 11212 can also be other transmission assemblies, such as a worm gear, and the present application is not limited thereto.

[0058] In an optional embodiment, the positioning portion 1122 has a buffer portion arranged on the side of the positioning portion 1122 facing the slicing rack 300. The buffer portion can reduce the impact force of the positioning portion 1122 on the slicing rack 300, and in turn protect the slices 400 in the slicing rack 300.

[0059] For example, the positioning portion 1122 has a connecting portion 11221, the pushing structure 1121 is connected with the connecting portion 11221, and the buffer portion is arranged on the side of the connecting portion 11221 facing the slicing rack 300. During the movement of the positioning portion 1122 towards the slicing rack 300, the buffer portion can reduce the impact force of the positioning portion 1122 on the slicing rack 300, and in turn protect the slices 400 in the slicing rack 300.

[0060] In an optional embodiment, the buffer portion includes a first elastic member and a structural member, the structural member is movably connected with the connecting portion 11221, and the two ends of the first elastic member are respectively abutted with the structural member and the connecting portion 11221. The first elastic member always maintains an elastic force towards the structural member to drive the structural member to move towards the side of the slicing rack 300, so as to absorb the energy after the collision between the positioning portion 1122 and the slicing rack 300, and avoid damaging the slices 400 in the slicing rack 300 due to direct collision.

[0061] In an optional embodiment, the positioning part 1122 comprises a first limiting structure 1125, and the loading seat 111 is provided with a second limiting structure, one end of the first limiting structure 1125 is fixedly connected with the positioning part 1122, and the other end of the first limiting structure 1125 cooperates with the second limiting structure, so that the first driving part 11211 can drive the positioning part 1122 to move along the guide direction of the first limiting structure 1125, and ensure that the positioning part 1122 is not prone to deviation during movement.

[0062] In an optional embodiment, the loading seat 111 comprises a base 111a, and the base 111a is arranged to be inclined towards the side away from the stage assembly 22, so that the slide rack 300 placed in the accommodating groove 11a can be inclined towards the side away from the stage assembly 22. After the above technical solution is adopted, on the one hand, one side of each slice 400 can be close to the slice 400 groove of the slide rack 300, so as to avoid shaking during movement and maintain the stability of the slice 400 during transfer; on the other hand, since one side of the slice 400 has pathological tissues and cover glasses to be analyzed, and there are chemical reagents therein, the side is inclined to the other side, so as to protect the side.

[0063] For example, the base 111a is arranged to be inclined towards the side away from the positioning part 1122, so that the slide rack 300 placed in the accommodating groove 11a can be inclined towards the side away from the positioning assembly 29112, that is, the slice 400 in the slide rack 300 can be inclined towards the rear side of the slide rack 300, so as to not only avoid that the slice 400 in the slide rack 300 is inclined to the front side, that is, the inner side of the conveying assembly 12 during transfer of the loading assembly 11, but also avoid that the slice 400 is interfered by the internal structure of the pathological slice scanner during movement, so as to ensure the safety of the slice 400; at the same time, the slide rack 300 can cooperate with the material moving assembly 13 of the loading and unloading mechanism 10, so that the material moving assembly 13 can quickly clamp the slice 400, and then rotate towards the side of the stage assembly 22, so that the identity information on the slice 400 can be towards the outer side of the stage assembly 22, so that the image recognition assembly 28 on the stage assembly 22 can read the identity information, thereby reducing the angle of rotation of the slice 400.

[0064] In an optional embodiment, the inclination angle of the base 111a of the loading seat 111 relative to the horizontal plane is between 1 degree and 10 degrees, so as to not only ensure the inclined arrangement of the slice 400 in the slide rack 300, but also facilitate the taking out of the slice 400 from the slide rack 300, and save the space of the loading and unloading mechanism 10, which is conducive to the miniaturization of the equipment.

[0065] In an optional embodiment, the second limiting structure is formed on the base 111a, so that the positioning part 1122 can press the slide rack 300 under the joint action of the first guiding structure and the first limiting structure 1125, and ensure that the positioning part 1122 can uniformly apply pressure to the slide rack 300.

[0066] In an optional embodiment, the base 111a includes a first bottom plate and a second bottom plate, which are spaced apart along the height direction of the loading seat 111. The accommodation groove 11a is formed at the upper end of the second bottom plate, and the second limiting structure is formed at the lower end of the second bottom plate.

[0067] In an optional embodiment, part of the structure of the positioning part 1122 is arranged above the second bottom plate, and the other part of the structure of the positioning part 1122 is arranged below the second bottom plate, so that the part of the positioning part 1122 above the second bottom plate can limit the slide rack 300, and the part of the positioning part 1122 below the second bottom plate can cooperate with the first bottom plate and / or the second bottom plate to limit the moving direction of the positioning part 1122.

[0068] In an optional embodiment, the loading seat 111 includes a first limiting part 111b and a second limiting part 111c spaced apart along the first direction, and the first limiting part 111b cooperates with the second limiting part 111c to limit the position of the slide rack 300 in the first direction, so that the slide rack 300 can be limited in the first direction and the second direction of the accommodation groove 11a, and thus stably placed in the accommodation groove 11a.

[0069] It should be noted that the first direction refers to the width direction of the slide rack 300, and the second direction refers to the length direction of the slide rack 300, that is, the positioning part 1122 is used to limit the position of the slide rack 300 in the length direction, so that the accommodation groove 11a can adapt to slide racks 300 of different lengths; and the cooperation of the first limiting part 111b and the second limiting part 111c is used to limit the position of the slide rack 300 in the width direction, so that the accommodation groove 11a can adapt to slide racks 300 of different widths.

[0070] In an optional embodiment, the loading seat 111 has a first side and a second side arranged oppositely, the first limiting part 111b is fixed on the first side, and the second limiting part 111c is movably mounted on the second side and can move towards or away from the first limiting part 111b.

[0071] In an optional embodiment, the loading seat 111 has a third side and a fourth side arranged oppositely, the third side is fixed relative to the first side, and the advancing structure 1121 is arranged in the fourth side to drive the positioning part 1122 to move towards or away from the third side.

[0072] For example, the loading seat 111 further comprises a front baffle 111d, the first limiting part 111b is one of the side plates of the loading seat 111, the second limiting part 111c is the other side plate of the loading seat 111, the front baffle 111d is connected to one end of the two side plates, and the fixing member is connected to the other end of the two side plates, so that the front baffle 111d, the fixing member and the two side plates can collectively form the accommodating groove 11a.

[0073] In an optional embodiment, the first limiting part 111b is fixedly connected to the front baffle 111d, and the second limiting part 111c is movably connected to the front baffle 111d. When the slide rack 300 is placed in the accommodating groove 11a, the positioning part 1122 moves towards one side of the front baffle 111d to cooperate with the front baffle 111d to limit the slide rack 300 in the length direction, and the second limiting part 111c moves towards one side of the first limiting part 111b to limit the width of the slide rack 300, so that the second limiting part 111c, the first limiting part 111b, the positioning part 1122 and the front baffle 111d can collectively position the slide rack 300, and the positioning reference of the slide rack 300 in the accommodating groove 11a is determined by the fixed connection between the first limiting part 111b and the front baffle 111d. Therefore, this not only meets the compatible storage of slide racks 300 of different sizes, but also facilitates the positioning of the slide rack 300 to ensure the accuracy of its relative position and facilitate the subsequent removal of a single slice 400 from the slide rack 300.

[0074] In an optional embodiment, the loading seat 111 further comprises a cover 114, which is connected to the fixing member and covers the outside of the driving motor.

[0075] In an optional embodiment, the loading seat 111 comprises an elastic structure 111e and a sliding rail structure 111f, the second limiting part 111c is slidingly installed on the second side through the sliding rail structure 111f, and the two ends of the elastic structure 111e are respectively in abutment with the first limiting part 111b and the second limiting part 111c, so that the elastic structure 111e always maintains an elastic force to drive the second limiting part 111c to move in a direction away from the first limiting part 111b, when the conveying assembly 12 conveys the loading assembly 11 to the slice removal station 12b, the third limiting structure on the slice removal station 12b can limit the second limiting part 111c and push the second limiting part 111c to move in a direction towards the first limiting part 111b, so that the slice rack 300 can be positioned in the accommodation groove 11a. The minimum distance between the second limiting part 111c and the first limiting part 111b is matched with the width of the base 111a, so as to limit the movement distance of the second limiting part 111c. When the conveying assembly 12 conveys the loading assembly 11 to the slice feeding station 12a, the third limiting structure releases the limitation on the second limiting part 111c, facilitating the slice rack 300 to be taken out of the loading assembly 11.

[0076] In an optional embodiment, the elastic structure 111e and the sliding rail structure 111f are arranged between the first bottom plate and the second bottom plate.

[0077] In an optional embodiment, the elastic structure 111e comprises a second elastic member, a first connecting member and a second connecting member, the second elastic member is arranged between the first connecting member and the second connecting member, the first connecting member is connected with the first limiting part 111b, and the second connecting member is connected with the second limiting part 111c, so that the second elastic member always maintains an elastic force to drive the first connecting member and the second connecting member to move in opposite directions.

[0078] In an optional embodiment, both sides of the loading seat 111 are provided with a lumbar recess groove, so as to facilitate a hand or a mechanical claw to clamp the slice rack 300 from the loading seat 111.

[0079] Illustratively, the lumbar recess groove comprises a first lumbar recess groove and a second lumbar recess groove, the first lumbar recess groove is formed on the first limiting part 111b, the second lumbar recess groove is formed on the second limiting part 111c, and the position of the first lumbar recess groove corresponds to the position of the second lumbar recess groove, so as to facilitate a hand or a mechanical claw to clamp the slice rack 300 from the loading seat 111.

[0080] In an optional embodiment, the loading assembly 11 comprises a first detection member 113, which is electrically connected with the positioning assembly 29112 and is used for detecting the movement position of the positioning assembly 29112.

[0081] In an optional implementation, the first detection member 113 is at least one of a force sensor, an angle sensor, a travel switch, and a Hall sensor electrically connected to the first driving member 11211.

[0082] For example, the first detection member 113 includes a force sensor configured to detect a force condition of the positioning assembly 29112, so that the first driving member 11211 can control the positioning portion 1122 to continue moving towards the front baffle 111d according to the force data detected by the force sensor, thereby avoiding damage to the slice rack 300 due to excessive force and ensuring the safety of the slices 400 in the slice rack 300. The slice rack 300 is made of plastic material and is prone to deformation due to extrusion, and the slices 400 are made of glass material and are prone to breakage due to deformation of the slice rack 300.

[0083] Specifically, when the force data received by the first detection member 113 is greater than a predetermined value, the first driving member 11211 stops working, so that the preset distance between the positioning portion 1122 and the front baffle 111d can be adapted to the length of the slice rack 300, thereby avoiding damage to the slice rack 300 due to excessive force and ensuring the safety of the slices 400 in the slice rack 300.

[0084] In an optional implementation, the loading assembly 11 includes a second detection member 115 disposed in the accommodation groove 11a and configured to detect a placement condition of the slice rack 300 in the accommodation groove 11a to determine whether the slice rack 300 is placed in the accommodation groove 11a. The second detection member 115 includes, but is not limited to, an infrared sensor.

[0085] In an optional implementation, as shown in FIGS. 8 to 13, the loading and unloading mechanism 10 further includes a material moving assembly 13 including a material moving gripper 131 and a moving assembly 132 connected to the material moving gripper 131. The moving assembly 132 is configured to drive the material moving gripper 131 to move along at least one degree of freedom direction to move the slices 400 between the loading assembly 11 and the object table assembly 22, thereby reducing the manual participation process of the slices 400 during the moving process, so that the moving of the slices 400 can be quickly and accurately realized. Not only the labor cost is reduced, but also the working efficiency of the pathological slice scanner is improved, and the problem of damage to the fragments or slices 400 due to manual participation is greatly avoided.

[0086] In an optional embodiment, the material moving gripper 131 comprises a first material moving gripper part, a second material moving gripper part, and a material moving gripper driving member connected with the first material moving gripper part and the second material moving gripper part for driving the first material moving gripper part and the second material moving gripper part to open and close, so as to enable the material moving gripper 131 to clamp or release the slice 400, and enable the slice 400 to be transferred between the stage assembly 22 and the loading assembly 11, thereby improving the automation degree of the pathological slice scanner, saving labor, reducing labor cost, and improving work efficiency.

[0087] In an optional embodiment, at least one of the first material moving gripper part and the second material moving gripper part is provided with two spaced-apart grippers, and the material moving gripper part with the two grippers is used to abut against the side of the slice 400 with the identity information. In this way, not only can multi-point contact of the slice 400 be realized to form stable clamping and ensure the stability of the slice 400 during clamping, but also the identity information on the slice 400 can be avoided from being shielded, so that after the slice 400 is placed on the stage assembly 22, the image recognition assembly 28 on the scanning mechanism 20 can read the identity information.

[0088] For example, the first material moving gripper part is provided with two spaced-apart grippers, the second material moving gripper part is provided with only one gripper, the first material moving gripper part abuts against the side of the slice 400 with the identity information, and the second material moving gripper part abuts against the other side of the slice 400, so that the three grippers can make three-point contact with the slice 400 to achieve the clamping purpose, thereby enabling the slice 400 to be stably transferred without using a vacuum suction structure which is relatively expensive, greatly reducing the design cost, and enabling the pathological slice scanner to be reasonably designed and better cooperate with other mechanisms to quickly and accurately transfer the slice 400 to the scanning mechanism 20 for scanning and / or transfer the slice 400 scanned by the scanning mechanism 20.

[0089] For example, the first material moving gripper part and the second material moving gripper part are each provided with two spaced-apart grippers, one of the first material moving gripper part and the second material moving gripper part abuts against the side of the slice 400 with the identity information, and the other of the first material moving gripper part and the second material moving gripper part abuts against the other side of the slice 400, so that the four grippers can make four-point contact with the slice 400 to achieve the clamping purpose, thereby enabling the slice 400 to be stably transferred.

[0090] In an optional embodiment, the moving assembly 132 comprises a vertical moving assembly 1322 for driving the material moving gripper 131 to move up and down along the vertical direction, and a longitudinal moving assembly 1321 for driving the material moving gripper 131 to move back and forth along the horizontal direction, so that the material moving gripper 131 can move along two degrees of freedom directions under the driving of the moving assembly 132, to stably move the slice 400, which is reasonable and simple in structure and high in automation degree.

[0091] In an optional embodiment, the vertical moving assembly 1322 is used for driving the material moving gripper 131 to move up and down along the vertical direction, so that the material moving gripper 131 can pick up the slice 400 on the loading assembly 11. When the material moving gripper 131 is moved to the lower position by the vertical moving assembly 1322, the material moving gripper 131 picks up the slice 400 to be scanned from the loading and unloading assembly from the upper position, without the need for additional actions, which can efficiently move the slice 400, and can also simplify the structure of the whole pathological slice scanner and reduce the size.

[0092] In an optional embodiment, the longitudinal moving assembly 1321 is used for driving the material moving gripper 131 to move back and forth along the horizontal direction. When the material moving gripper 131 is moved to the rear position by the longitudinal moving assembly 1321, the slice 400 to be scanned is placed on the stage assembly 22, so that the image recognition assembly 28 above the stage assembly 22 can read the identity information on the slice 400, and when the slice 400 moves to the detection position, the scanning assembly 24 on the detection position can scan the slice 400 to obtain the pathological information on the slice 400, so as to organically combine the identity information and the pathological information on the slice 400. It should be noted that the longitudinal moving assembly 1321 and the vertical moving assembly 1322 can be independent mechanisms, which are not limited in the present application.

[0093] In an optional embodiment, the longitudinal moving assembly 1321 comprises a longitudinal mounting seat, a longitudinal driving member, a longitudinal guide member and a longitudinal transmission member. The material moving gripper 131 is slidably mounted on the longitudinal mounting seat through the longitudinal guide member, and the longitudinal driving member is in transmission connection with the material moving gripper 131 through the longitudinal transmission member, for driving the material moving gripper 131 to move back and forth along the horizontal direction.

[0094] In an optional embodiment, the vertical moving assembly 1322 comprises a vertical connecting seat, a vertical driving member and a vertical transmission member. The vertical driving member is in transmission connection with the material moving gripper 131 through the vertical transmission member, for driving the material moving gripper 131 to move up and down along the vertical direction.

[0095] In an alternative embodiment, the number of the material moving grippers 131 is at least two, and the at least two material moving grippers 131 are arranged in the first direction to alternately realize the transfer of the slice 400 between the stage assembly 22 and the loading assembly 11.

[0096] In an alternative embodiment, the moving assembly 132 further comprises a lateral moving assembly 1323, and the at least two material moving grippers 131 are in transmission connection with the lateral moving assembly 1323, so that the at least two material moving grippers 131 can move in the left-right direction under the drive of the lateral moving assembly 1323. When one of the material moving grippers 131 takes out the scanned slice 400 from the stage assembly 22, the lateral moving assembly 1323 drives the other material moving gripper 131 to place the slice 400 to be scanned on the stage assembly 22, and during the scanning of the slice 400, the material moving gripper 131 can place the scanned slice 400 back to the loading assembly 11, and then take the new slice 400 to be scanned, which greatly saves the waiting time during the taking of the slice 400 and accelerates the scanning speed. The lateral moving assembly 1323 is used to realize the alignment of the multiple material moving grippers 131 and the stage assembly 22 during the switching process.

[0097] In an alternative embodiment, the material moving gripper 131 comprises a rotating structure 1312 and a gripper structure 1311, and the material moving gripper driving part of the gripper structure 1311 is connected with the moving assembly 132 through the rotating structure 1312, so that the material moving gripper driving part can rotate around the rotating shaft of the rotating structure 1312 to the side of the stage assembly 22, so as to move the slice 400 to be scanned in the slice holder 300 to the stage assembly 22 in the vertical direction for scanning, which reduces the rotation angle of the gripper structure 1311 and does not need additional actions; after the scanning of the slice 400 is completed, the gripper structure 1311 moves the slice 400 from the stage assembly 22 to the slice holder 300, efficiently moves the slice 400, simplifies the structure of the whole pathological slice scanner, and also reduces the size.

[0098] In an alternative embodiment, the material moving assembly 13 comprises a connecting assembly, the gripper structure 1311 comprises a first material moving gripper 131a and a second material moving gripper 131b, the second material moving gripper 131b is connected with the first material moving gripper 131a through the connecting assembly, the first material moving gripper 131a or the second material moving gripper 131b is connected with the rotating structure 1312 for alternately realizing the transfer of the slice 400 between the stage assembly 22 and the loading assembly 11, so that the first material moving gripper 131a and the second material moving gripper 131b can respectively take and place the slice 400 in the slice holder 300, and during the scanning process, one of the first material moving gripper 131a and the second material moving gripper 131b can take a new slice 400 to be scanned, which is equivalent to a double-station design, greatly saving the waiting time during the taking process of the slice 400 and accelerating the scanning speed.

[0099] For example, after the first material moving gripper 131a and the second material moving gripper 131b respectively take the slice 400 to be scanned in the slice holder 300, the first material moving gripper 131a places the slice 400 to be scanned on the stage assembly 22 for scanning, when the scanning of the slice 400 is completed, the first material moving gripper 131a takes the slice 400 on the stage assembly 22, the transverse moving assembly 1323 drives the second material moving gripper 131b to place the slice 400 to be scanned gripped thereby on the stage assembly 22 for scanning, and then the moving assembly 132 drives the first material moving gripper 131a to place the scanned slice 400 back to the slice holder 300 and replace a new slice 400 to be scanned, so that after the second material moving gripper 131b takes the scanned slice 400 on the stage assembly 22, the first material moving gripper 131a can place a new slice 400 to be scanned on the stage assembly 22 for scanning, and the like, which is alternately cycled, greatly saving the waiting time during the taking process of the slice 400 and accelerating the scanning speed.

[0100] It should be noted that the first material moving gripper 131a and the second material moving gripper 131b can also simultaneously take the slice 400 to be scanned in the slice holder 300, and then alternately place the slice 400 to be scanned on the stage assembly 22 for scanning, or the first material moving gripper 131a and the second material moving gripper 131b simultaneously place the slice 400 to be scanned on different stations of the stage assembly, which is not limited in the present application.

[0101] In an optional embodiment, as shown in FIGS. 3, 6-8, the loading and unloading mechanism 10 further comprises a state identification assembly 14 for detecting state information of the slices 400 placed in the loading assembly 11, so that the slice moving assembly 13 can move the slices 400 in the loading assembly 11 according to the state information detected by the state identification assembly 14. The state identification assembly 14 can be directly mounted on the rack of the pathological slice scanner, or the state identification assembly 14 can be mounted on the rack of the pathological slice scanner through a detection support, which is not limited in the present application.

[0102] For example, the state identification assembly 14 can be used to detect the skew value of the slices 400 in the slice holder 300, and then compare the measured skew value with the pre-stored standard skew value, so as to determine whether the slices 400 in the slice holder 300 have skew insertion, stacking or missing, etc. state occurs; or the state identification assembly 14 can be used to detect the distance value between two adjacent slices 400, and then compare the measured distance value with the pre-stored standard distance value, so as to determine whether the slices 400 in the slice holder 300 have skew insertion, stacking or missing, etc. state occurs; or the state identification assembly 14 can be used to detect the number of slices 400 in the slice holder 300, and then compare the measured number with the pre-stored standard number, so as to determine whether the slices 400 in the slice holder 300 have skew insertion, stacking or missing, etc. state occurs, etc.

[0103] Therefore, the slice moving assembly 13 can move the slices 400 in the slice holder 300 to the corresponding position of the stage assembly 22 for scanning according to the detected state information, and then move the scanned slices 400 from the stage assembly 22 to the corresponding position of the slice holder 300, without the need for manual correction by the operator, which not only saves time and improves work efficiency, but also avoids accidents during the moving of the slices 400, such as the risk of breaking the slices 400 during clamping, the problem of falling of the slices 400 during moving, or the problem of tilting of the slices 400 during moving, or the problem of the slice moving assembly 13 being unable to move due to the abnormal state of the slices 400 in the slice holder 300, etc., thereby fully improving the safety of unattended operation and ensuring that the slices 400 can be accurately moved to the stage assembly 22 for scanning, thereby ensuring work efficiency.

[0104] In an optional embodiment, the conveying assembly 12 is located below the state identification assembly 14, so that the state identification module can detect the slices 400 placed in the loading assembly 11 to obtain the state information of the slices 400, so that the material moving assembly 13 can move the slices 400 in the slice rack 300 to the scanning stage assembly 22 according to the detected state information, without the need for the operator to monitor the whole process, saving time and improving the moving efficiency of the material moving assembly 13, and avoiding the occurrence of abnormal phenomena such as dropping and fragmentation of the slices 400 during the moving process of the material moving assembly 13.

[0105] In an optional embodiment, the state identification assembly 14 includes a state identification module and a detection support, and the state identification module is installed on the rack through the detection support.

[0106] For example, when the state identification module detects that the slices 400 in the slice rack 300 have state information such as oblique insertion, stacking or missing, the material moving assembly 13 can not need to move the slices 400 with abnormal state information, which saves the operator from the tedious on-site monitoring, reduces the waiting time for re-arranging the slices 400 with abnormal state information, ensures the working efficiency of the pathological slice scanner, and can avoid the risk of fragmentation of the material moving assembly 13 when clamping these abnormal slices 400, greatly protecting the safety of the slices 400. In addition, the state identification module can also output the state information detected by the state identification module through the output module of the pathological slice scanner, which is convenient for the operator to recheck after the scanning of the slices 400 is completed, or to take out the slices 400 with abnormal state information such as oblique insertion, stacking or missing.

[0107] It should be noted that since the slices 400 are made of glass material and have the characteristics of being fragile, slippery and thin, the material moving assembly 13 is more troublesome during the moving process of the slices 400, and the slices 400 need to be placed neatly in the slice rack 300, which can easily cause the slices 400 to be clamped and broken due to the placement problem of the slices 400, and can also easily affect the flatness of the slices 400 placed on the scanning stage assembly 22. Therefore, the present application detects the number of slices 400 to be scanned in the slice rack 300 through the state identification module, and confirms whether the state information such as stacking, oblique insertion and missing occurs, so that the material moving assembly 13 can move the slices 400 in the slice rack 300 to the scanning stage assembly 22 according to the detected state information, and then move the scanned slices 400 from the scanning stage assembly 22 to the corresponding position of the slice rack 300, to realize accurate positioning of the slices 400, without the need for the operator to manually correct, saving time and improving the working efficiency.

[0108] In an optional embodiment, the state recognition assembly 14 is arranged above the slice feeding station 12a or between the slice feeding station 12a and the slice moving-out station 12b, the position of the slice moving-out station 12b corresponds to the position of the stage assembly 22, so that the state recognition assembly 14 can detect the state information of the slices 400 in the slide rack 300 on the slice feeding station 12a, and then transmit the detected state information to the controller of the pathological slice scanner, so that the controller can control the material moving assembly 13 to work according to the detected state information, and move the corresponding slices 400 in the slide rack 300 to the stage assembly 22 for scanning. Since the position of the slice moving-out station 12b corresponds to the position of the stage assembly 22, the material moving assembly 13 can quickly move the slices 400 in the slide rack 300 to the stage assembly 22 for scanning, without the need for additional actions, can efficiently move the slices 400, and can also simplify the structure of the entire pathological slice scanner and reduce the size.

[0109] For example, the state recognition assembly 14 includes a camera, which is arranged above the slice feeding station 12a or on the side of the conveying assembly 12 close to the slice feeding station 12a, so that the camera can recognize the slices 400 in the slide rack 300 on the slice feeding station 12a at one time, without the need for separate detection of each slice 400; and then the camera transmits the detected state information to the controller of the pathological slice scanner, so that the controller can move the corresponding slices 400 in the slide rack 300 to the stage assembly 22 for scanning when the loading assembly 11 is conveyed to the slice moving-out station 12b, which is beneficial to improve the working efficiency of the pathological slice scanner.

[0110] In an optional embodiment, the state information includes at least one of a tilt state, an arrangement state, and an abnormal state of the slices 400. The tilt state refers to whether the slices 400 are inserted obliquely in the slide rack 300, the arrangement state refers to whether the slices 400 are stacked or missing in the slide rack 300, and the abnormal state refers to other states of the slices 400 in the slide rack 300 except the tilt state and the arrangement state, including but not limited to a broken state of the slices 400.

[0111] In an optional embodiment, the position of the material moving assembly 13 corresponds to the position of the slice moving-out station 12b, so that the material moving gripper 131 can move to the loading assembly 11 in the vertical direction to take out the slices 400 in the loading assembly 11, without the need for additional actions, can efficiently move the slices 400, and can also simplify the structure of the entire pathological slice scanner and reduce the size.

[0112] In an alternative embodiment, the conveying assembly 12 comprises a conveying track 121, the loading assembly 11 reciprocates along the length direction of the conveying track 121, and the length direction of the loading seat 111 is perpendicular to the length direction of the conveying track 121, so that the conveying assembly 12 can convey the loading assembly 11 from the slice feeding station 12a to the slice removing station 12b. At this time, the length direction of the slice holder 300 is arranged in a direction perpendicular to the conveying track 121, so that the material moving assembly 13 can move the slice 400 in the slice holder 300.

[0113] In an alternative embodiment, the conveying assembly 12 comprises a third limiting structure arranged on the slice removing station 12b, when the conveying assembly 12 conveys the loading assembly 11 to the slice removing station 12b, the third limiting structure can limit and push the second limiting part 111c to move towards the first limiting part 111b, so that the slice holder 300 can be positioned in the accommodating groove 11a.

[0114] In an alternative embodiment, as shown in FIGS. 8, 14-16, the scanning mechanism 20 comprises a linear driving assembly 23, the object table assembly 22 reciprocates along the second direction under the driving of the linear driving assembly 23, so that the slice 400 to be scanned placed on the object table assembly 22 can pass through the part of the scanning assembly 24 and be completely located in the scanning range of the scanning assembly 24. Therefore, only one linear driving assembly 23 is needed to drive the object table assembly 22 to move along the second direction, that is, the full-range alignment scanning of the slice 400 and the scanning assembly 24 is realized through the movement in one direction, without the need to move the scanning assembly 24 through other moving mechanisms, and / or without the need to drive the object table assembly 22 to move along other directions through other moving mechanisms.

[0115] Obviously, it can be understood that the object table moving assembly 132 does not need to drive the object table assembly 22 and / or the scanning assembly 24 to move through multi-axis linkage, which is beneficial to simplify the overall structure of the scanning mechanism 20 and reduce the occupied space, facilitate the miniaturization of the structure, and facilitate the transportation; secondly, it can avoid multi-axis installation errors and multi-axis linkage control errors, which is beneficial to reduce the vibration probability of the scanning area, ensure the stable movement of the object table assembly 22, and facilitate more accurate control of the scanning precision, facilitate the scanning assembly 24 to stably and clearly scan the slice 400, and is beneficial to improve the scanning effect of the slice 400.

[0116] Exemplarily, the scanning assembly 24 is fixed, and under the driving of the linear driving assembly 23, the object table assembly 22 can move the slice 400 placed thereon along the second direction to slowly carry the slice 400 to the lower side of the scanning assembly 24, wherein the scanning assembly 24 can scan the slice 400 entering thereunder in the process of the slice 400 passing through the scanning assembly 24, and the scanning assembly 24 can complete the full scanning of the slice 400 when the slice 400 is completely carried out of the scanning assembly 24. After the slice 400 is scanned, under the driving of the linear driving assembly 23, the object table assembly 22 can move the slice 400 along the opposite direction of the second direction to carry the slice 400 out of the scanning assembly 24, so that the material moving assembly 13 can move the scanned slice 400 to the slice rack 300.

[0117] In an optional embodiment, the base 21 is provided with a scanning channel, the scanning channel is located at the position corresponding to the scanning assembly 24, the object table assembly 22 is located on the scanning channel, and the orthographic projection of the scanning assembly 24 on the base 21 along the height direction is located in the scanning channel; in this way, in the process of the object table assembly 22 carrying the slice 400 for scanning, it is beneficial to ensure that the scanning of the slice 400 can be conveniently realized without moving the scanning assembly 24. The scanning mechanism 20 further comprises an image recognition assembly 28, which is located at the outlet of the scanning channel and is used to read the identity information on the slice 400. The identity information at the end of the slice 400 is read by the image recognition assembly 28 before the object table assembly 22 carries the slice 400 for scanning or when the slice 400 is moved out to the outlet after completing the scanning. Such a spatial layout is compact and miniaturized, and realizes the organic and unified combination of the identity information of the slice 400 and the pathological information.

[0118] In an optional embodiment, the scanning mechanism 20 further comprises a second transmission member 26 and a first linear moving assembly 25, the second transmission member 26 is slidingly installed on the first linear moving assembly 25, the linear driving assembly 23 and the object table assembly 22 are installed on the second transmission member 26, and the first linear moving assembly 25 is installed on the base 21 and is used to guide the object table assembly 22 to reciprocally move along the second direction. In this way, the object table assembly 22 can be parallel to the linear driving assembly 23 when moving under the guidance of the first linear moving assembly 25, which ensures the smooth movement of the object table assembly 22 and is beneficial to further improve the movement stability and precision of the object table assembly 22.

[0119] In an optional embodiment, the first linear moving assembly 25 comprises a target guide rail 5225, which is installed on the base 21 along the second direction, and the second transmission member 26 is slidingly installed on the target guide rail 5225.

[0120] In an optional embodiment, the second transmission member 26 is provided along the first direction.

[0121] For example, the width of the target guide rail 5225 is more than twice the width of the single-axis guide rail 5225, so as to balance the force on the base 21 relative to the two sides of the target guide rail 5225. Understandably, the weight of the stage assembly 22 located on the left side of the first linear moving assembly 25 is greater than the weight of the linear driving assembly 23 located on the right side of the first linear moving assembly 25. By increasing the width of the common single-axis guide rail 5225, the guide rail 5225 becomes the target guide rail 5225 with a left-right balancing effect, which can simply and effectively ensure the balance of the base 21 on the left and right sides of the first linear moving assembly 25, and further ensure that the stage assembly 22 can move smoothly and stably.

[0122] In an optional embodiment, the stage assembly 22 comprises a focusing stage 221 and a stage 223, the stage 223 is provided with a stage supporting surface for placing the to-be-scanned slice 400, and the stage 223 is installed on the scanning channel through the focusing stage 221, so as to realize focusing of the slice 400 on the stage supporting surface relative to the scanning assembly 24 by adjusting the focusing stage 221.

[0123] In an optional embodiment, the stage assembly 22 comprises at least three leveling assemblies, and the stage 223 is installed on the scanning channel through the at least three leveling assemblies which are not on the same straight line, so as to make the flatness of the slice 400 on the stage 223 relative to the preset reference plane within a preset range by adjusting the leveling assemblies.

[0124] In an optional embodiment, the leveling assemblies are distributed on opposite sides of the stage supporting surface.

[0125] Understandably, in order to improve the scanning effect and ensure the flatness of the slice 400 carried on the stage assembly 22, the preset reference plane can be taken as a reference surface, and the mounting tightness of the stage 223 and the focusing stage 221 is adjusted by adjusting the at least three leveling assemblies arranged in a triangular manner, so as to adjust the flatness of the stage supporting surface on which the slice 400 is placed to be within a preset range.

[0126] It should be noted that the flatness of the preset reference plane described herein can be guaranteed by the manufacturer's manufacturing requirements, that is, the preset reference plane is the inherent reference surface of the pathological slice scanner. Specifically, in the embodiment, the preset reference plane can be a slider movement plane fitted by the sliders in motion in the first linear moving assembly 25. Understandably, the slider movement plane is a virtual plane. Of course, in other embodiments, the preset reference plane can also be other suitable planes, which are not listed one by one here.

[0127] In an optional embodiment, the stage assembly 22 further comprises a lifting platform 222, the stage 223 is mounted on the lifting platform 222 through the leveling assembly, and the lifting platform 222 is movably mounted on the focusing platform 221 of the stage assembly 22 and drives the stage 223 to move along the height direction of the lifting platform 222 in the movable state, so as to adaptively adjust the height difference between the top surface of the slice 400 and the scanning assembly 24 according to the different thicknesses of the slice 400, and to ensure the scanning effect of the fixed scanning assembly 24 on the slice 400 with different thicknesses.

[0128] In an optional embodiment, in the case that the lifting platform 222 is slidably mounted on the focusing platform 221 and can drive the stage 223 to move along the height direction of the lifting platform 222, one of the lifting platform 222 and the stage 223 is provided with a first positioning member, and the other is provided with a first positioning slot, wherein the first positioning member and the first positioning slot are matched in concave-convex mode, so as to facilitate the installation alignment between the lifting platform 222 and the stage 223 and to ensure the structural stability of the stage assembly 22.

[0129] In an optional embodiment, in order to realize the automatic movement of the lifting platform 222 along the height direction, the top of the focusing platform 221 is concavely provided with a mounting cavity, wherein the second driving member and the second linear movement assembly 132 are arranged in the mounting cavity, the lifting platform 222 is mounted on the top of the focusing platform 221 through the second linear movement assembly 132, and the stage 223 is driven to move along the depth direction of the mounting cavity under the driving of the second driving member. Understandably, the second linear movement assembly 132 is mainly used to guide the movement of the lifting platform 222 along the depth direction of the mounting cavity.

[0130] Understandably, in order to improve the scanning effect, after the slice 400 is placed on the supporting surface of the stage 223, the scanning assembly 24 and the slice 400 on the stage 223 need to be focused, so as to determine whether the height of the stage 223 needs to be adjusted through the lifting of the lifting platform 222. Illustratively, after the slice 400 is placed on the supporting surface of the stage 223, the linear driving assembly 23 can drive the stage assembly 22 to move backward along the second direction at a high speed, when the slice 400 on the stage assembly 22 passes through the fixed scanning assembly 24, the scanning assembly 24 can preliminarily scan the slice 400, if it is judged that the imaging picture cannot meet the requirements, the second driving member in the mounting cavity will automatically receive the related signal to drive the lifting platform 222 to adaptively lift, and after the imaging picture meets the requirements, the focusing operation of the slice 400 is completed.

[0131] In an optional embodiment, in order to realize the miniaturization of the stage assembly 22, further improve the miniaturization degree of the scanning mechanism 20, and realize the large-stroke adjustment of the lifting platform 222, the second driving member in the mounting cavity of the focusing platform 221 is a voice coil motor.

[0132] In an optional embodiment, the focusing stage 221 is in a cuboid structure. In order to improve the leveling precision, the leveling assembly is provided with four, wherein the four leveling assemblies are arranged in a square on the lifting stage 222 and the carrier stage 223. Specifically, the four leveling assemblies are arranged at the four corners of the lifting stage 222 and the carrier stage 223. Of course, in other embodiments, the leveling assembly can also be provided with three, and the three leveling assemblies are arranged in a triangle; or the leveling assembly can also be provided with more, which will not be listed one by one here.

[0133] In an optional embodiment, in order to adjust the flatness of the carrier surface of the carrier stage 223 through the leveling assembly, each leveling assembly includes a first adjusting member 523 and a second adjusting member 523, the first adjusting member 523 is used to connect the focusing stage 221 and the carrier stage 223, so that the corresponding local part of the carrier stage 223 is lifted relative to the focusing stage 221 during adjustment; the second adjusting member 523 is used to connect the focusing stage 221 and the carrier stage 223, so that the corresponding local part of the carrier stage 223 is lowered relative to the focusing stage 221 during adjustment.

[0134] Exemplarily, when the object table assembly 22 includes the lifting stage 222, the first adjusting member 523 and the second adjusting member 523 of each leveling assembly are used to connect the lifting stage 222 and the carrier stage 223, that is, to the focusing stage 221 through the lifting stage 222. Optionally, the first adjusting member 523 and the second adjusting member 523 can be screws, which include but are not limited to screws, bolts, etc.

[0135] In an optional embodiment, the object table moving device further includes a grating measurement system, which is used to measure the movement distance of the object table assembly 22 in the scanning channel, so as to improve the motion control precision of the object table assembly 22. Of course, in other embodiments, the grating measurement system can also be used to measure the lifting height of the carrier surface, which can improve the focusing precision between the scanning assembly and the slice 200 on the object table assembly 22, and improve the scanning effect.

[0136] In an optional embodiment, the grating measurement system includes a grating ruler, a magnetic grating ruler or a distance sensor, which is located between the focusing stage 221 and the first linear moving assembly 25, and the grating ruler can be arranged in the first direction.

[0137] Understandably, taking the grating measurement system including the grating ruler as an example, the grating measurement system measures the movement distance of the focusing stage 221 and the carrier stage 223 of the object table assembly 22 in the scanning channel, which can improve the motion control precision of the object table assembly 22; similarly, the grating measurement system measures the lifting height of the carrier surface of the carrier stage 223, which can improve the focusing precision between the scanning assembly 24 and the slice on the object table assembly 22, and improve the scanning effect.

[0138] In an optional embodiment, the grating ruler is located on one side of the first linear moving assembly 25 close to the object table assembly 22, so that the grating ruler can be closer to the object table assembly 22 to more truly feedback the real-time position of the object table assembly 22, and facilitate more accurate control.

[0139] In an optional embodiment, to ensure the safety of the scanning assembly 24, the scanning assembly 24 further comprises a heat dissipation member, wherein the heat dissipation member is located between the adjusting platform 221 and the scanning assembly 24 to dissipate the heat of the scanning assembly 24. For example, the scanning assembly 24 further comprises a sensing unit, one side (specifically, the top side) of the sensing unit is connected to the adjusting platform 221 through the scanning connecting member, and the other side (specifically, the bottom side) of the sensing unit is connected to the top of the scanning assembly 24. Specifically, the heat dissipation member is located between the adjusting platform 221 and the sensing unit to dissipate the heat of the sensing unit and the scanning assembly 24, ensure the safe operation of the scanning assembly 24, and facilitate the service life and safety of the scanning mechanism.

[0140] In an optional embodiment, the scanning mechanism 20 further comprises a fixing assembly 224 arranged on the object table assembly 22 to fix the section 400 placed on the object table assembly 22, so that the section 400 can remain stable during the movement, thereby ensuring the effect of scanning imaging.

[0141] In an optional embodiment, the fixing assembly 224 comprises a first clamping member 2241, a second clamping member 2242, and a clamping switch assembly, the first clamping member 2241 and the second clamping member 2242 are oppositely arranged on the object table assembly 22 and jointly form a clamping space for clamping the section 400 with the supporting surface of the object table assembly 22, and the first clamping member 2241 and the second clamping member 2242 are relatively close to or away from each other under the action of the clamping switch assembly. When the first clamping member 2241 and the second clamping member 2242 are relatively close to each other, the section 400 in the clamping space is clamped, or when the first clamping member 2241 and the second clamping member 2242 are relatively far away from each other, the clamping of the section 400 in the clamping space is released.

[0142] Understandably, the first clamping member 2241 can be used to clamp the section 400 from one side (specifically, the left side) of the section 400, and the second clamping member 2242 can be used to clamp the section 400 from the other side (specifically, the right side) of the section 400.

[0143] In an optional embodiment, the side of the first clamping piece 2241 facing the clamping space and the side of the second clamping piece 2242 facing the clamping space are each provided with at least one abutting portion 2243, under the action of the clamping switch assembly, the first clamping piece 2241 and the second clamping piece 2242 are relatively close to clamp different parts of the slice 400 from the opposite sides of the slice 400 through the abutting portion 2243 of the first clamping piece 2241 and the abutting portion 2243 of the second clamping piece 2242, or the first clamping piece 2241 and the second clamping piece 2242 are relatively far away to release the clamping of the slice 400 in the clamping space. To ensure that the first clamping piece 2241 and the second clamping piece 2243 stably clamp the slice 400, on the other hand, the contact area of the first clamping piece 2241, the second clamping piece 2243 and the slice 400 can be reduced through the local contact of the abutting portion 2243 of the first clamping piece 2241 and the abutting portion 2243 of the second clamping piece 2243, and then the contact area and the contact probability of the first clamping piece 2241, the second clamping piece 2242 and the glue are reduced, which is beneficial to reduce the damage rate of the slice 400 and realize the safe and stable transportation of the slice 400.

[0144] In an optional embodiment, the length of the clamping area formed by the abutting portion 2243 of the first clamping piece 2241 and the abutting portion 2243 of the second clamping piece 2242 is greater than or equal to 1 / 2 of the length of the slice 400. On the one hand, it can effectively ensure that the first clamping piece 2241 and the second clamping piece 2242 stably clamp the slice 400, and on the other hand, the contact area of the first clamping piece 2241, the second clamping piece 2242 and the slice 400 can be reduced through the local contact of each abutting portion 2243, and then the contact area and the contact probability of the first clamping piece 2241, the second clamping piece 2242 and the glue are reduced, which is beneficial to reduce the damage rate of the slice and realize the safe and stable transportation of the slice.

[0145] In some embodiments of the present application, the abutting portion 2243 of the first clamping piece 2241 and the second clamping piece 2242 and the side surface corresponding to the slice 400 are in contact at least at a point and a surface, so as to reduce the contact area of the first clamping piece 2241, the second clamping piece 2242 and the slice 400 as much as possible, and ensure the safe transportation of the slice 400.

[0146] Exemplarily, the abutting portions 2243 of the first and second clamping members 2241 and 2242 can be provided with at least one arc-shaped protrusion on the side facing the slice 400. Alternatively, the abutting portions 2243 of the first and second clamping members 2241 and 2242 can also be provided with a spherical surface facing the slice 400, and the spherical surface is tangent to the side surface of the slice 400, so as to realize the point-surface contact between the abutting portion 2243 of the first clamping member 2241 and the side surface (specifically, the left side surface) of the slice 400, and realize the point-surface contact between the abutting portion 2243 of the second clamping member 2242 and the side surface (specifically, the right side surface) of the slice 400.

[0147] After the technical scheme is adopted, the fixing assembly 224 automatically controls the relative approach or departure of the first and second clamping members 2241 and 2242 by mechanically clamping the switch assembly, which is beneficial to improving the efficiency of fixing and installing the slice 400 and reducing the energy consumption in the installation process of the slice 400. In addition, the corresponding abutting portions 2243 on the first and second clamping members 2241 and 2242 clamp different parts of the slice 400 from the opposite sides of the slice 400, and according to the principle that three points determine a plane, the number of the abutting portions 2243 on the two sides of the slice 400 is set, which is beneficial to stably clamping the slice 400 by the first and second clamping members 2241 and 2242, reducing the contact area between the first and second clamping members 2241 and 2242 and the slice 400 through the local contact between the abutting portions 2243 and the slice 400, reducing the damage rate of the slice 400, and realizing the safe and stable transportation of the slice 400.

[0148] In an optional embodiment, the object table assembly 22 is provided with a feeding entrance for placing the slice 400 on the loading surface, and the feeding entrance is communicated with the clamping space; and the at least one abutting portion 2243 is located at the feeding entrance. In this way, the slice 400 placed on the loading surface can be clamped at the feeding entrance by the abutting portions 2243 on the first and / or second clamping members 2241 and 2242, so as to prevent the slice 400 from moving out of the clamping space.

[0149] Alternatively, all the abutting portions 2243 on the first and second clamping members 2241 and 2242 are arranged in a linear gap along the length direction of the slice 400, and the clamping portion on the first clamping member 2241 is arranged opposite to the abutting portions 2243 on the second clamping member 2242.

[0150] Exemplarily, the first clamping piece 2241 is provided with a first abutting portion 2243, the second clamping piece 2242 is also provided with a second abutting portion 2243, and the first abutting portion 2243 and the second abutting portion 2243 are opposite to each other at the feeding entrance of the carrier 223, so that the left and right sides of the slice 400 at this position can be clamped by the opposite arrangement of the first abutting portion 2243 and the second abutting portion 2243, thereby improving the installation stability of the slice 400.

[0151] In an optional embodiment, the first clamping piece is provided with a plurality of first abutting portions 2243, all the first abutting portions 2243 are arranged in a linear gap, the second clamping piece is provided with a plurality of second abutting portions 2243, all the second abutting portions 2243 are also arranged in a linear gap, and the first abutting portions 2243 and the second abutting portions 2243 are opposite to each other one by one, so as to jointly clamp the slice 400 at both sides of the same position of the slice 400, thereby improving the safety and stability of clamping the slice 400.

[0152] Specifically, in the embodiment, in order to simplify the structure of the fixing assembly 224 and further ensure the safety and stability of clamping the slice 400, the clamping portions on the first clamping piece 2241 and the second clamping piece 2242 are all provided with three clamping portions, one clamping portion is used for clamping the front end of the slice 400, one clamping portion is used for clamping the middle position of the slice 400, and one clamping portion is used for clamping the slice 400 at the feeding entrance, so as to clamp the front part, the middle part and the rear part of the slice 400, thereby ensuring the clamping stability and also ensuring that the contact surface between the first clamping piece 2241, the second clamping piece 2242 and the slice 400 is as small as possible.

[0153] In some embodiments, in order to realize the automatic clamping or unclamping operation of the first clamping piece 2241 and the second clamping piece 2242 on the slice 400, at least one of the first clamping piece 2241 and the second clamping piece 2242 is a movable clamp. The clamping switch assembly includes a switch guide piece and a switch piece, and the switch piece is arranged on the movable clamp. The switch guide piece is provided with a guide surface, and the guide surface includes an opening retaining surface and a clamping retaining surface, wherein the opening retaining surface and the clamping retaining surface are arranged in sequence along the feeding direction (specifically, the front and back directions) of the slice 400.

[0154] When the switch piece abuts against the opening retaining surface, the clamping portion of the movable clamp has a gap with the slice 400 in the clamping space, so as to unclamp the slice 400, and at this time, the fixing assembly 224 is in an open state. Alternatively, when the switch piece abuts against the clamping retaining surface, the abutting portions 2243 on the first clamping piece 2241 and the second clamping piece 2242 jointly clamp the slice 400, and at this time, the fixing assembly 224 is in a clamping state.

[0155] Exemplarily, the first clamp 2241 is a movable clamp, and the second clamp 2242 is fixedly installed on the carrier 223, so that the slice 400 can be conveniently clamped based on the second clamp 2242, the stability and accuracy of clamping the slice 400 are improved, and the difficulty of clamping operation is reduced.

[0156] In addition, the opening retaining surface and the clamping retaining surface are arranged before and after the slice 400 in the feeding direction, so that when the fixing assembly 224 is in the initial position and the opening retaining surface of the switch member abuts against the switch guide member, the slice 400 can be conveniently fed into the clamping space. After the slice 400 is placed on the carrier surface, the carrier 223 can be directly moved away from the feeding port to drive the slice 400, the first clamp 2241, the second clamp 2242 and the switch member to move together with the carrier 223, in the moving process, the first clamp 2241 can gradually move towards the second clamp 2242, and the switch member can gradually move to the position of the clamping retaining surface, when the switch member abuts against the clamping retaining surface, the first clamp 2241 can clamp the slice 400 together with the second clamp 2242, and the fixing assembly 224 is always in the clamping state.

[0157] Conversely, when the switch member abuts against the clamping retaining surface of the switch guide member and the fixing assembly 224 is in the clamping state, the carrier 223 can be moved towards the feeding port to drive the slice 400, the first clamp 2241, the second clamp 2242 and the switch member to move together with the carrier 223, in the moving process, the first clamp 2241 can gradually move away from the second clamp 2242, and the switch member can gradually move to the position of the opening retaining surface, when the switch member abuts against the opening retaining surface, the first clamping part of the first clamp 2241 has a preset gap from the slice 400 and no longer contacts the slice 400, so as to ensure that the fixing assembly 224 is always in the opening state.

[0158] Overall, the fixing assembly 224 has simple and reliable structure, low energy consumption, and simple and safe clamping operation.

[0159] Of course, in other embodiments, the first clamp 2241 and the second clamp 2242 can both be movable clamps, or the second clamp 2242 can be a movable clamp, and the working principles thereof are substantially the same as above, which will not be described here.

[0160] In an optional embodiment, in order to ensure smoothness of clamping and opening actions of the switch member in the moving process, the guide surface of the switch guide member further comprises a transition arc surface, wherein the transition arc surface is located between the opening retaining surface and the clamping retaining surface, and opposite ends of the transition arc surface are tangent to the opening retaining surface and the clamping retaining surface, respectively.

[0161] When the switch member moves relative to the switch guide along the feeding direction of the slice 400 (specifically, the direction of moving from front to back), and the switch member abuts against the transition arc surface, the clamping part of the movable clamp gradually approaches the slice 400 in the clamping space to finally clamp the slice 400. When the switch member moves relative to the switch guide along the feeding direction of the slice 400 (specifically, the direction of moving from front to back), and the switch member abuts against the transition arc surface, the clamping part of the movable clamp gradually approaches the slice 400 in the clamping space to finally clamp the slice 400. When the switch member moves relative to the switch guide along the feeding direction of the slice 400 (specifically, the direction of moving from front to back), and the switch member abuts against the transition arc surface, the clamping part of the movable clamp gradually approaches the slice 400 in the clamping space to finally clamp the slice 400.

[0162] In some embodiments, the switch member is a cam, and the wheel surface of the cam abuts against the guide surface when the switch guide abuts against the switch member. That is, the switch guide and the switch member are in surface contact during relative movement, which is beneficial to improving the safety and stability of clamping.

[0163] In an optional embodiment, the first clamp 2241 is a movable clamp, and the second clamp 2242 is fixedly installed on the stage 223 of the stage assembly 22; the clamping switch assembly further comprises a third linear movement assembly 132, the first clamp 2241 is slidably connected to the stage 223 through the third linear movement assembly 132 and can relatively approach or move away from the second clamp 2242, so that the first clamp 2241 can stably and reliably relatively approach or move away from the second clamp 2242.

[0164] For example, the third linear movement assembly 132 comprises a slidingly connected guide rail 5225 and a sliding block, one of the stage 223 and the first clamp 2241 is provided with the guide rail 5225, and the other is provided with the sliding block. Specifically, in this embodiment, the stage 223 is provided with an avoiding hole, and the guide rail 5225 is arranged on the stage 223 at a position corresponding to the avoiding hole along the width direction of the slice 400. Correspondingly, the inner wall of the first clamp 2 is provided with a fixed mounting part, and the fixed mounting part is provided with a sliding block. The fixed mounting part is mounted in the avoiding hole, and the sliding block is slidably connected with the guide rail 5225 in the avoiding hole. In this way, when the first clamp 2241 moves along the guide rail 5225 relative to the mounting seat, the first clamp 2241 can stably and smoothly relatively approach or move away from the second clamp 2242.

[0165] In an optional embodiment, the clamping switch assembly further comprises an elastic buffer, which is arranged between the stage 223 and the first clamp 2241 and is used for providing a buffer force for the opening or clamping of the first clamp 2241.

[0166] Exemplarily, the elastic buffer is arranged along the width direction of the slice 400, and one end of the elastic buffer is connected to the first clamping member and the other end is connected to the carrier 223. When the first clamping member 2241 is close to the second clamping member 2242, the slice 400 can be gradually close to the slice 400 through the buffering of the elastic buffer, so as to facilitate the clamping safety of the slice 400. When the switch member is separated from the switch guide and continues to move along with the carrier 223 in the length direction of the slice 400, the first clamping member 2241 can stably clamp the slice 400 through the elastic buffer, and is not easy to be displaced due to vibration of the carrier 223 and the like, so as to facilitate to ensure the clamping stability of the slice 400.

[0167] In an optional embodiment, the scanning mechanism 20 comprises a positioning assembly 29112 arranged along the second direction and electrically connected with the linear driving assembly 23, for controlling the moving position of the carrier assembly 22, so as to improve the moving accuracy, motion reliability and safety of the carrier assembly 22.

[0168] Exemplarily, the positioning assembly 29112 comprises a travel switch arranged on the base 21 and a position sensor arranged on the carrier assembly 22, the position sensor is matched with the travel switch, for sensing the moving position of the carrier assembly 22, so that the linear driving assembly 23 can control the stop of the movement. The travel switch comprises a minimum travel switch and a maximum travel switch. When the position sensor is located at the position of the minimum travel switch, the carrier assembly 22 is located at the initial position. When the carrier assembly 22 moves in the direction away from the loading and unloading mechanism 10, if the position sensor moves to the position of the maximum travel switch, the linear driving assembly 23 can control the stop of the movement, so that the carrier assembly 22 is located at the maximum travel position.

[0169] In an optional embodiment, the scanning mechanism 20 comprises an illumination assembly 27 arranged on the carrier 223 of the carrier assembly 22, for providing light from the back when the slice 400 is scanned, so that the light emitted from the illumination assembly 27 passes through the slice 400 and then enters the scanning assembly 24 to form a scanning picture.

[0170] In an optional embodiment, the scanning mechanism 20 comprises an image recognition assembly 28, for reading the identity information on the slice 400, so as to organically and uniformly combine the identity information on the slice 400 with the pathological information, and avoid the problem of disorder of the data of the slice 400 after scanning.

[0171] In an optional embodiment, as shown in FIGS. 5-7, the rack of the pathological section scanner comprises a scanning rack 30, a receiving chamber 31 arranged in the scanning rack 30, and a first opening 32 arranged on one side of the receiving chamber 31, the loading and unloading mechanism 10 and the scanning mechanism 20 are arranged in the receiving chamber 31, and the first opening 32 is used to place the section rack 300 containing the sections to be scanned 400 into the loading and unloading mechanism 10, so that the loading and unloading mechanism 10 can transport the sections 400 on the section rack 300 to the scanning mechanism 20 for scanning. By planning the transport route of the section rack 300, the position and size of the first opening 32 are accurately set, the number or size of the first opening 32 on the scanning rack 30 is reduced, the loading and unloading mechanism 10 and the scanning mechanism 20 can be completely accommodated in the receiving chamber 31 for comprehensive protection, the operation of the pathological section scanner is simplified, and the use safety of the pathological section scanner is improved.

[0172] For example, the position of the section feeding station 12a corresponds to the position of the first opening 32, and the position of the scanning mechanism 20 corresponds to the position of the section removing station 12b. After the section rack 300 containing the sections to be scanned 400 is placed into the loading and unloading mechanism 10 from the first opening 32, the loading and unloading mechanism 10 transports the sections 400 on the section rack 300 to the section removing station 12b and places them on the scanning mechanism 20 for scanning, and / or transports the scanned sections 400 on the scanning mechanism 20 back to the loading and unloading mechanism 10 and transports them to the section feeding station 12a.

[0173] By adopting the above technical scheme, since the layout space of the section feeding station 12a, the section removing station 12b, the scanning mechanism 20 and the first opening 32, and the transport route of the section rack 300 are planned, the layout space inside the rack can be saved, the compactness and use safety of the pathological section scanner are ensured, part of the structure of the loading and unloading mechanism 10 and the scanning mechanism 20 are not exposed outside the scanning rack 30, so that the pathological section scanner can be protected whether it is stopped or working, the safety hidden danger of the loading and unloading mechanism 10 and the scanning mechanism 20 exposed when working is solved, direct contact of the scanning mechanism 20 and the like with water vapor in the air is avoided, the service life is affected, the use safety is improved, and the overall appearance structure of the pathological section scanner is ensured.

[0174] In an optional embodiment, the scanning rack 30 comprises a shell and a protective shell arranged in the first opening 32, the protective shell is provided with an inlet for the loading and unloading mechanism 10 to pass through, which is used to enclose part of the structure of the loading and unloading mechanism 10 and the scanning mechanism 20 in the scanning rack 30, and the loading and unloading mechanism 10 can realize the transfer of the section rack 300 between the section feeding station 12a and the section removing station 12b through the inlet.

[0175] For example, the protective shell divides the receiving chamber 31 into a working chamber and a taking and placing chamber, wherein part of the structure of the loading and unloading mechanism 10 and the scanning mechanism 20 are enclosed in the working chamber, the working chamber is separated from the taking and placing chamber, and the taking and placing chamber is used for taking and placing the slide rack 300, so as to protect the operation safety of the operator.

[0176] In an optional embodiment, the rack comprises a door plate installed in the first opening 32 and used for opening or closing to shield the first opening 32, so as to prevent the pathological section scanning device from being exposed to air during shutdown, affect the service life of the scanning mechanism 20 and the loading and unloading mechanism 10, and protect the scanning mechanism 20 and the loading and unloading mechanism 10.

[0177] In an optional embodiment, as shown in FIGS. 1, 2, 3 and 17, the pathological section scanning device further comprises a storage device 200, which can provide a stable and sufficient number of slice platforms for the scanning device 100, so as to solve the problem of the limited loading number of the slide rack 300 due to the internal space of the scanning device 100, not be limited by the internal space of the scanning device 100, and not need to be reformed, and can be designed according to the number of the slide rack 300 containing the to-be-scanned sections 400, especially increasing the storage number of the slide rack 300 in the height direction of the storage mechanism 50, so as to improve the scanning efficiency of the pathological section scanning device on the sections 400.

[0178] In an optional embodiment, the scanning device further comprises a material moving mechanism 60 and a storage mechanism 50 for storing the slide rack 300, and the material moving mechanism 60 is used for transferring the slide rack 300 between the storage mechanism 50 and the loading and unloading mechanism 10, so that the scanning device 100 can scan the to-be-scanned sections 400 contained in the slide rack 300.

[0179] In an optional embodiment, as shown in FIGS. 17 to 21, the storage mechanism 50 comprises a rack body 51 and a placing assembly 52 arranged in the rack body 51, the rack body 51 has an opposite storage side 51a and a material moving side 51b, the placing assembly 52 is provided with a storage groove 52a for placing the slide rack 300, and the storage groove 52a is provided with an adjusting piece 523 at one end close to the material moving side 51b, and the adjusting piece 523 is used for limiting the placing position of the slide rack 300 placed from the storage side 51a. In this way, different specifications of the slide rack 300 can be compatible, the clamping jaw assembly 61 of the material moving mechanism 60 is not prone to causing the placing problem of the slide rack 300 in the storage groove 52a due to the different lengths of the slide rack 300 when clamping different specifications of the slide rack 300, and the risk of sliding, swinging, tilting or even falling of the slide rack 300 in the clamping or moving process of the material moving mechanism 60 is avoided, so as to improve the safety of the slide rack 300 in the clamping or moving process.

[0180] Exemplarily, the lengths of the slice racks 300 of each specification can be the same or different. In this application, the slice racks 300 of different lengths are taken as an example. When the slice racks 300 of different lengths are placed in the storage slots 52a, the length of the storage slot 52a can be adjusted by the adjusting member 523, so that the slice racks 300 can be accurately placed in the storage slot 52a, without replacing the entire storage mechanism 50 or using only the matching slice racks 300 for the storage mechanism 50, thereby improving the degree of freedom of use of the user.

[0181] It should be noted that the adjusting member 523 can limit the placement position of the slice rack 300 by changing the position; the adjusting member 523 can also move the position by driving the motor and the like, so as to limit the slice rack 300 of different lengths, which is not limited in this application.

[0182] In an optional embodiment, the storage slot 52a has an opening structure at an end away from the adjusting member 523, and the storage slot 52a is used to place at least the slice racks 300 of different lengths, wherein the slice racks 300 are placed into the storage slot 52a through the opening structure or from above the opening structure, and the adjusting member 523 is used to limit the placement position of the slice racks 300 of different lengths placed therein, so that the slice racks 300 of different lengths can be accurately placed in the storage slot 52a, without replacing the entire storage mechanism 50, thereby solving the problem that the storage mechanism 50 can only use the matching slice racks 300, improving the degree of freedom of use of the user; at the same time, the failure rate of the slice racks 300 in the storage slot 52a during taking and placing is also reduced, greatly improving the working efficiency of the digital pathology scanner.

[0183] After the above technical scheme is adopted, the slice rack 300 can be accurately mechanically limited by the adjusting member 523, so as to ensure the accurate position of the slice rack 300 in the storage slot 52a, and the material moving mechanism 60 can accurately grasp the slice rack 300, without large deviation, so that the slice rack 300 cannot be placed into the loading and unloading mechanism 10 or the placement fails. In addition, the mechanical limiting structure can better realize the human-computer interaction experience. When the hand places the slice rack 300 in the storage slot 52a, the hand will have a good feedback experience when contacting the hard limit of the limiting structure, prompting the operator that the slice rack 300 has been placed in position.

[0184] In an optional embodiment, one end of the adjusting member 523 is provided with a blocking portion 5231, which extends towards the inner side of the storage slot 52a, so that one end of the slice rack 300 placed in the storage slot 52a abuts against the blocking portion 5231 to block the end of the slice rack 300, thereby limiting the position of the slice rack 300 placed in the storage slot 52a.

[0185] In an alternative embodiment, the placing assembly 52 is provided with a plurality of partition plates 522 at intervals to form at least one storage slot 52a, so that each slice rack 300 can be placed in each storage slot 52a.

[0186] In an alternative embodiment, the adjusting member 523 is detachably connected with the partition plate 522, so that the position of the adjusting member 523 can be adjusted by assembly, thereby limiting the placement position of the slice rack 300 of different specifications placed in the storage slot 52a, and solving the problem that the storage slot 52a is small and difficult to install a more complex limiting structure.

[0187] In an alternative embodiment, each storage slot 52a is formed by the relative limiting of adjacent partition plates 522, and the partition plate 522 is provided with a mounting groove 5224 at one end away from the storage side 51a, and the adjusting member 523 is detachably mounted in the mounting groove 5224, and the two ends of the adjusting member 523 can be selectively exchanged in direction when connected to the mounting groove 5224, to form a limit for slice racks 300 of different lengths.

[0188] For example, the adjusting member 523 has opposite first and second ends, and the blocking part 5231 is provided at the first end or a position close to the first end. When the storage slot 52a is placed into the first-specification slice rack 300, the first end is connected with the butt joint end of the mounting groove 5224, and the second end is located outside the mounting groove 5224, that is, the first-specification slice rack 300 can be limited by the blocking part 5231 close to the butt joint end after being placed into the storage slot 52a. Alternatively, when the storage slot 52a is placed into the second-specification slice rack 300, the first end is located outside the mounting groove 5224, and the second end is connected with the butt joint end of the mounting groove 5224, that is, the second-specification slice rack 300 can be limited by the blocking part 5231 away from the butt joint end after being placed into the storage slot 52a. The lengths of the two-specification slice racks 300 are different, and the limiting lengths corresponding thereto are also different. In addition, the length of the adjusting member 523 can also be replaced by detaching, so that the limiting of slice racks 300 of more lengths can be realized, to improve the compatibility of the storage slot 52a of the application in storing the slice rack 300.

[0189] It should be noted that the application adjusts the position of the adjusting member 523 or replaces the adjusting member 523 of different lengths to adapt to the limiting of two or more specifications of slice racks 300, wherein the lengths of the two or more specifications of slice racks 300 can be the same or different, which is not limited by the application.

[0190] In an alternative embodiment, the placing assembly 52 comprises a placing plate, the partition plate 522 has a connecting section 5221 connected with the placing plate and a supporting section 5222 extending at least partially towards the inside of the storage groove 52a, the supporting section 5222 is connected at an end of the connecting section 5221 away from the placing plate, for laterally supporting the slide rack 300.

[0191] In an alternative embodiment, the supporting section 5222 has a first supporting edge 52221 arranged obliquely, the slope of the first supporting edge 52221 is adapted to the slope of the first supporting part 301 of the slide rack 300, so that the slide rack 300 can be stably supported.

[0192] In an alternative embodiment, a mounting groove 5224 is formed on the supporting section 5222, the adjusting piece 523 is provided with a second supporting edge 5232 having the same oblique arrangement as the first supporting edge 52221, one end of the second supporting edge 5232 is formed with a blocking part 5231, so as to stably support and limit the slide rack 300. At the same time, when the material moving mechanism 60 takes out the slide rack 300, it is only necessary to slightly lift the slide rack 300 upwards, and the blocking part 5231 is released from the limitation of the slide rack 300, without the need to completely take out the slide rack 300 from the storage groove 52a, and then move the slide rack 300 along the length direction of the storage groove 52a, so as to reduce the size of the avoiding space above the storage groove 52a, and realize the miniaturization design of the storage mechanism 50.

[0193] In an alternative embodiment, one of the partition plate 522 and the adjusting piece 523 is provided with a guide rail 5225, and the other one is provided with a sliding groove 5233, the adjusting piece 523 is detachably connected with the partition plate 522 through the cooperation of the sliding groove 5233 and the guide rail 5225, so as to ensure the relative position between the adjusting piece 523 and the partition plate 522, and facilitate the disassembly and assembly of the adjusting piece 523.

[0194] For example, the sliding groove 5233 is formed on the side of the adjusting piece 523 towards the mounting groove 5224, and the guide rail 5225 is formed on the side of the partition plate 522 towards the adjusting piece 523, when the adjusting piece 523 is mounted on the mounting groove 5224, the adjusting piece 523 moves along the length direction of the guide rail 5225 through the sliding groove 5233, so that the first end or the second end of the adjusting piece 523 can be connected with or contacted with the butt joint end of the mounting groove 5224.

[0195] In an optional embodiment, the placing assembly 52 further comprises a connecting piece, the adjusting piece 523 is provided with a connecting hole 5234 penetrating through both ends, the partition plate 522 is provided with a fixing hole 5226, and the connecting piece is connected with the fixing hole 5226 after penetrating through the connecting hole 5234, so as to fix the adjusting piece 523 in the mounting groove 5224. The connecting piece can be a screw structure, but is not limited to the screw structure.

[0196] In an optional embodiment, the placing assembly 52 further comprises a limiting piece 524, which is arranged at one end of the partition plate 522 close to the storage side 51a, and is used for limiting both sides when the slide rack 300 is placed in the storage groove 52a, so as to play a guiding and limiting role. If the slide rack 300 deviates left and right too much, the jaw assembly 61 of the material moving mechanism 60 may interfere with or even collide with the slide rack 300 during the process of clamping the slide rack 300, and then the slide 400 or the jaw assembly 61 is damaged.

[0197] In an optional embodiment, the limiting piece 524 has a horizontal section 5241 and a vertical section 5242. The limiting piece 524 is connected with the partition plate 522 through the horizontal section 5241, and the vertical section 5242 is arranged at one end of the horizontal section 5241 away from the opening structure. This facilitates an operator to place the slide rack 300 in the storage groove 52a with a small space, so that the slide rack 300 can be placed into the corresponding storage groove 52a under the guidance of the vertical section 5242, and the stability and accuracy of the slide rack 300 during the placing process are improved. Meanwhile, the vertical section 5242 is arranged at one end of the horizontal section 5241 away from the opening structure, so as to avoid left and right deviation, and facilitate the operator to place the slide rack 300 into the storage groove 52a from the end.

[0198] In an optional embodiment, the middle part of the partition plate 522 has a notch groove 5223, which is used for cooperating with a mechanical jaw or a human hand to grab the slide rack 300 from the notch groove 5223. The mechanical jaw can be the jaw assembly 61 of the material moving mechanism 60. The jaw assembly 61 can extend into the notch groove 5223 to clamp the slide rack 300, so as to prevent the slide rack 300 from sliding, swinging, tilting or even falling during the clamping process due to insecure clamping, and improve the safety of the slide rack 300 during the moving process.

[0199] In an optional embodiment, the storage groove 52a is provided with a detection assembly 55. The detection assembly 55 is used for detecting whether the slide rack 300 exists in the storage groove 52a and / or whether the slide rack 300 is in place, so that the material moving mechanism 60 can stably move the slide rack 300 in the storage groove 52a according to the detection result of the detection assembly 55, and improve the work efficiency and accuracy.

[0200] In an alternative embodiment, the detection assembly 55 comprises a first sensor 551 arranged at one end close to the storage side 51a for detecting whether the slide rack 300 is present in the storage slot 52a.

[0201] In an alternative embodiment, the detection assembly 55 comprises a second sensor 552 arranged at one end away from the storage side 51a for detecting whether the slide rack 300 is in place.

[0202] For example, when the slide rack 300 is placed into the storage slot 52a from the storage side 51a, the slide rack 300 is first sensed by the first sensor 551 and then sensed by the second sensor 552. When the storage slot 52a is configured to store the slide rack 300 of the first size, i.e. the slide rack 300 has a longer length, the blocking portion 5231 is arranged at one end close to the removal side 51b. If the slide rack 300 is sensed only by the first sensor 551 but not sensed by the second sensor 552, it indicates that the slide rack 300 is present in the storage slot 52a but not in place. If the slide rack 300 is sensed by both the first sensor 551 and the second sensor 552, it indicates that the slide rack 300 is present in the storage slot 52a and in place. If the slide rack 300 is sensed only by the second sensor 552 but not sensed by the first sensor 551, it indicates that the slide rack 300 is present in the storage slot 52a and in place.

[0203] Alternatively, when the storage slot 52a is configured to store the slide rack 300 of the second size, i.e. the slide rack 300 has a shorter length, the blocking portion 5231 is arranged at one end away from the removal side 51b. If the slide rack 300 is sensed only by the first sensor 551 but not sensed by the second sensor 552, it indicates that the slide rack 300 is present in the storage slot 52a but not in place. If the slide rack 300 is sensed only by the second sensor 552 but not sensed by the first sensor 551, it indicates that the slide rack 300 is present in the storage slot 52a and in place.

[0204] In an alternative embodiment, the removal assembly 13 is electrically connected to the detection assembly 55. When the detection assembly 55 detects that the slide rack 300 is in place in the storage slot 52a, the removal assembly 60 removes the slide rack 300 to improve the working efficiency of the digital pathology scanner.

[0205] In an optional embodiment, as shown in FIG. 1, FIG. 17 to FIG. 21, the storage mechanism 50 comprises a cover plate arranged on the storage side 51a of the frame body 51, for opening or closing the storage slot 52a to protect the slide rack 300 in the storage slot 52a. Wherein the length direction of the slide rack 300 is parallel to the length direction of the storage slot 52a.

[0206] In an optional embodiment, the storage mechanism 50 comprises a state indicating piece, the position of the state indicating piece corresponds to the position of the storage slot 52a, for displaying the placement information of the slide rack 300 placed in the storage slot 52a, facilitating the further placement and removal operation of the slide rack 300, avoiding mistakes, affecting the operation process, and reducing the work efficiency. Wherein the placement information of the slide rack 300 includes whether the slide rack 300 exists in the storage slot 52a and / or whether the slide rack 300 is placed in place, etc.

[0207] In an optional embodiment, the state indicating piece is electrically connected with the detection assembly 55, so that the operator can align the slide rack 300 in the storage slot 52a according to the placement information of the detection assembly 55, so that the material moving mechanism 60 can stably clamp the slide rack 300, avoiding the risk of sliding, swinging, tilting, even falling, etc. during clamping due to the center of gravity of the slide rack 300 deviating, thereby improving the work efficiency and accuracy of the pathological section scanner.

[0208] In an optional embodiment, as shown in FIG. 1, FIG. 22 to FIG. 24, the material moving mechanism 60 comprises a displacement assembly 62 and a clamping jaw assembly 61, the clamping jaw assembly 61 is connected with the displacement assembly 62, so that the displacement assembly 62 can drive the clamping jaw assembly 61 to move along at least one degree of freedom direction to move the slide rack 300.

[0209] In an optional embodiment, the clamping jaw assembly 61 comprises a transfer clamping jaw 612 and a transfer clamping jaw driving piece 611, the transfer clamping jaw 612 comprises a first transfer clamping jaw 612a and a second transfer clamping jaw 612b, and the transfer clamping jaw driving piece 611 is used to drive the first transfer clamping jaw 612a and the second transfer clamping jaw 612b to move relative to each other, for clamping or releasing the clamping of the slide rack 300, so that the transfer clamping jaw 612 can clamp the slide rack 300 in the storage mechanism or place the slide rack 300 in the storage mechanism, realizing the movement of the slide rack 300.

[0210] In an optional embodiment, the first transfer gripper 612a and the second transfer gripper 612b each have a horizontal part 6121 and a vertical part 6122, and the vertical part 6122 is connected to the transfer gripper driving member 611 through the horizontal part 6121, so that the gripper assembly 61 can clamp the slide rack 300 from the side along the length direction, not only increasing the clamping area with the slide rack 300, i.e. clamping more edges of the slide rack 300 to form a stable clamping, ensuring the safety of the slide rack 300 during the transfer process; and the gripper assembly 61 can also clamp the slide rack 300 from the side along the length direction, so as to be compatible with different specifications of the slide rack 300 for grasping, to meet different needs.

[0211] The vertical part 6122 can cooperate with the cutout groove on both sides of the storage mechanism, so that the transfer gripper driving member 611 can drive the vertical part 6122 extending into the cutout groove to clamp the slide rack 300, and more edges of the slide rack 300 can be clamped, thereby preventing the slide rack 300 from sliding, swinging, tilting, or even falling during clamping due to insecure clamping, and improving the safety of the slide rack 300 during the transfer process; or after the gripper assembly 61 transfers the slide rack 300 to the storage groove 52a, the gripper assembly 61 can move towards the direction of the cutout groove, so that the vertical part 6122 can extend into the cutout groove, and then the gripper driving member drives the first transfer gripper 612a and the second transfer gripper 612b to release the slide rack 300, so that the slide rack 300 is placed in the storage mechanism, to reduce the collision between the slide rack 300 and the storage mechanism.

[0212] It should be noted that the vertical part 6122 is not designed only for the cutout groove, but mainly to increase the clamping area of the first transfer gripper 612a and the second transfer gripper 612b with the slide rack 300, i.e. to clamp more edges of the slide rack 300 to form a stable clamping, to prevent the slide rack 300 from sliding, swinging, tilting, or even falling during clamping due to insecure clamping, thereby improving the safety of the slide rack 300 during the transfer process. In other words, the gripper assembly 61 of the present application not only can realize the movement of the slide rack 300 between the storage mechanism and the stage of the digital pathology scanner, but also can realize the movement of the slide rack 300 from the loading and unloading mechanism 10 of the digital pathology scanner to the storage mechanism or other positions; or the transfer of the slide rack 300 with the hand, and the present application is not limited.

[0213] According to the above technical scheme, the vertical part 6122 can extend into the cutout groove to clamp the position of the slide rack 300 in the vertical direction, so as to increase the clamping area of the first transfer clamping jaw 612a and the second transfer clamping jaw 612b with the slide rack 300 in the vertical direction, avoid the first transfer clamping jaw 612a and the second transfer clamping jaw 612b only clamping the upper end of the slide rack 300, and cause the slide rack 300 to easily shake or even fall during the moving process, so as to improve the stability and safety of the slide rack 300 during the moving process, and prevent the slide rack 300 from sliding, swinging, tilting, or even falling during the clamping process.

[0214] In an optional embodiment, the vertical part 6122 includes a first vertical part 6122 formed on the first transfer clamping jaw 612a and a second vertical part 6122 formed on the second transfer clamping jaw 612b, the first vertical part 6122 is provided with a first transfer clamping part, and the second vertical part 6122 is provided with a second transfer clamping part, the first transfer clamping part and the second transfer clamping part are oppositely arranged, and are used to cooperate with the second supporting part 302 arranged on both sides of the slide rack 300, so that the first transfer clamping part and the second transfer clamping part form a limiting effect in the height direction with the second supporting part 302 on both sides of the slide rack 300, avoid the slide rack 300 from being disengaged due to displacement in the height direction, and further improve the stability of the whole.

[0215] In an optional embodiment, the first clamping part and the second clamping part each have a first recessed groove 6124 6123 recessed inwardly, so as to better cooperate with the connection of the second supporting part 302, avoid the slide rack 300 from shaking after being clamped, and improve the stability of the slide rack 300 during the moving process.

[0216] In an optional embodiment, the first recessed groove 6124 6123 includes a first clamping groove and a second clamping groove, the first clamping groove is formed by recessing inwardly at the middle position of the first clamping part, and the second clamping groove is formed by recessing inwardly at the middle position of the second clamping part, when the first transfer clamping jaw 612a and the second transfer clamping jaw 612b clamp the slide rack 300 through the first transfer clamping part and the second transfer clamping part, the first clamping groove cooperates with the second clamping groove, so that the outer surface of the second supporting part 302 can be clamped in the first clamping groove and the second clamping groove.

[0217] In an optional embodiment, the first clamping groove and the second clamping groove are both V-shaped, and the included angle between the two side walls of the first clamping groove and the second clamping groove is not greater than the included angle formed by the two side surfaces of the second support part 302. Not only can the first clamping groove and the second clamping groove play a guiding role when clamping the second support part 302, but also the two side surfaces of the second support part 302 can be abutted on the two side walls of the first clamping groove and the second clamping groove, thereby improving the stability of the first transfer clamping jaw 612a and the second transfer clamping jaw 612b clamping the slide rack 300.

[0218] In an optional embodiment, the horizontal part 6121 includes a first horizontal part 6121 formed on the first transfer clamping jaw 612a and a second horizontal part 6121 formed on the second transfer clamping jaw 612b. The first horizontal part 6121 is provided with a third transfer clamping part, and the second horizontal part 6121 is provided with a fourth transfer clamping part. The third transfer clamping part and the fourth transfer clamping part are oppositely arranged to cooperate with the first support part 301 arranged on the two sides of the slide rack 300, so that the third transfer clamping part and the fourth transfer clamping part form a limiting effect in the height direction with the first support part 301 on the two sides of the slide rack 300, avoiding the problem that the slide rack 300 is separated from the clamping due to the displacement in the height direction, thereby further improving the overall stability.

[0219] In an optional embodiment, the third clamping part and the fourth clamping part both have a second recessed groove recessed inwardly, so as to better cooperate with the first support part 301, avoiding the shaking of the slide rack 300 after being clamped, thereby improving the stability of the slide rack 300 during movement.

[0220] In an optional embodiment, the second recessed groove includes a third clamping groove and a fourth clamping groove. The third clamping groove is formed by recessing inwardly at the middle position of the third clamping part, and the fourth clamping groove is formed by recessing inwardly at the middle position of the fourth clamping part. When the first transfer clamping jaw 612a and the second transfer clamping jaw 612b clamp the slide rack 300 through the third transfer clamping part and the fourth transfer clamping part, the third clamping groove cooperates with the fourth clamping groove, so that the outer surface of the first support part 301 can be clamped in the third clamping groove and the fourth clamping groove.

[0221] In an optional embodiment, the third clamping groove and the fourth clamping groove are both V-shaped, and the included angle between the two side walls of the third clamping groove and the fourth clamping groove is not greater than the included angle formed by the two side surfaces of the first supporting part 301. In this way, not only can the third clamping groove and the fourth clamping groove play a guiding role when clamping the first supporting part 301, but also the two side surfaces of the first supporting part 301 can abut on the two side walls of the third clamping groove and the fourth clamping groove, reducing the shaking of the slice rack 300 during clamping, thereby improving the clamping efficiency of the first transfer clamping jaw 612a and the second transfer clamping jaw 612b on the slice rack 300.

[0222] It should be noted that the first clamping groove, the second clamping groove, the third clamping groove and the fourth clamping groove can also be arc-shaped or zigzag-shaped, so that the first supporting part 301 and the second supporting part 302 can be placed in the first clamping groove, the second clamping groove, the third clamping groove and the fourth clamping groove for clamping, effectively fixing the position and preventing displacement.

[0223] In an optional embodiment, the first transfer clamping jaw 612a and the second transfer clamping jaw 612b are both provided with an avoiding groove 6125 extending in the vertical direction, for avoiding the two side edges of the slice rack 300.

[0224] For example, the avoiding groove 6125 includes a first avoiding groove 6125 and a second avoiding groove 6125. The first avoiding groove 6125 is arranged on the first horizontal part 6121 and extends in the vertical direction of the first horizontal part 6121. The second avoiding groove 6125 is arranged on the second horizontal part 6121 and extends in the vertical direction of the second horizontal part 6121. When the first transfer clamping jaw 612a and the second transfer clamping jaw 612b clamp the slice rack 300, the first avoiding groove 6125 cooperates with the second avoiding groove 6125 to avoid the two side edges of the slice rack 300, so that the first transfer clamping jaw 612a and the second transfer clamping jaw 612b can stably clamp the slice rack 300.

[0225] In an optional embodiment, the width of the first avoiding groove 6125 and the second avoiding groove 6125 is greater than the width of the side edges of the slice rack 300, so that the first avoiding groove 6125 and the second avoiding groove 6125 can avoid the side edges of the slice rack 300, and the two side edges of the slice rack 300 can be completely placed in the first avoiding groove 6125 and the second avoiding groove 6125 when the first transfer clamping jaw 612a and the second transfer clamping jaw 612b clamp the slice rack 300.

[0226] In an optional embodiment, the first transfer gripper 612a and the second transfer gripper 612b are each provided with a slot 6126 for reducing the weight of the first transfer gripper 612a and the second transfer gripper 612b, thereby reducing the load of the transfer gripper driving member 611 for driving the first gripper and the second gripper to hold, simplifying the structure of the first gripper and the second gripper, and reducing the maintenance cost.

[0227] In an optional embodiment, the displacement assembly 62 includes a longitudinal displacement assembly 621, a vertical displacement assembly 622, and a transverse displacement assembly 623. The gripper assembly 61 is connected to the vertical displacement assembly 622 through the longitudinal displacement assembly 1321. The vertical displacement assembly 622 is installed on the rack of the pathological scanner through the transverse displacement assembly 623.

[0228] In an optional embodiment, the longitudinal displacement assembly 621 includes a longitudinal displacement mounting seat, a longitudinal displacement driving member, a longitudinal displacement guide, and a longitudinal displacement transmission member. The gripper assembly 61 is slidably installed on the longitudinal displacement mounting seat through the longitudinal displacement guide. The longitudinal displacement driving member is in transmission connection with the gripper assembly 61 through the longitudinal displacement transmission member, for driving the gripper assembly 61 to move forward and backward along the horizontal direction.

[0229] In an optional embodiment, the vertical displacement assembly 622 includes a vertical displacement mounting seat, a vertical displacement driving member, a vertical displacement guide, and a vertical displacement transmission member. The longitudinal displacement assembly 621 is slidably installed on the vertical displacement mounting seat through the vertical displacement guide. The vertical displacement driving member is in transmission connection with the longitudinal displacement assembly 621 through the vertical displacement transmission member, for driving the longitudinal displacement assembly 621 to move up and down along the vertical direction.

[0230] In an optional embodiment, the transverse displacement assembly 623 includes a transverse displacement mounting seat, a transverse displacement driving member, a transverse displacement guide, and a transverse displacement transmission member. The vertical displacement assembly 622 is slidably installed on the transverse displacement mounting seat through the transverse displacement guide. The transverse displacement driving member is in transmission connection with the vertical displacement assembly 622 through the transverse displacement transmission member, for driving the vertical displacement assembly 622 to move left and right along the horizontal direction.

[0231] In an optional embodiment, as shown in FIGS. 1 to 4, the scanning rack 30 is provided with a second opening 33, which is in communication with the receiving chamber 31, for moving at least part of the structure of the loading and unloading mechanism 10 from the receiving chamber 31 to the outside of the scanning rack 30, so that the material moving mechanism 60 can place the slide rack 300 in the loading and unloading mechanism 10 or take the slide rack 300 out of the loading and unloading mechanism 10.

[0232] In an optional embodiment, as shown in FIGS. 2, 3, 4 and 9, the loading assembly 11 of the loading and unloading mechanism 10 is provided with an extension seat 1111 in the first direction, the extension seat 1111 is fixed on the conveying track 121 of the loading and unloading mechanism 10, and the extension length of the extension seat 1111 is not less than the width of the loading assembly 11, so that the conveying track 121 can be completely arranged in the scanning rack 30, and the width part of the loading assembly 11 can be exposed outside the scanning rack 30 when the conveying assembly 12 drives the loading assembly 11 to move along the conveying track 121 to the storage device 200.

[0233] After the above technical scheme, since the width direction of the loading assembly 11 is parallel to the first direction, not only the size of the loading assembly 11 exposed outside the scanning rack 30 can be reduced, the stability of the loading assembly 11 in the conveying process can be improved, especially the cantilever structure formed by connecting the loading assembly 11 to the conveying track 121 through the extension seat 1111; but also the length direction of the slide rack 300 can be extended to the side of the scanning mechanism 20, the transfer of the slices 400 in the slide rack 300 between the loading assembly 11 and the scanning mechanism 20 can be facilitated, and no extra action is needed, so that the slices 400 can be transferred efficiently, the structure of the whole pathological slice scanner can be simplified, and the size can be reduced.

[0234] In an optional embodiment, as shown in FIGS. 1 to 4, the scanning device 100 further comprises a display panel 40 for display and / or interactive operation, the scanning rack 30 is provided with a receiving chamber 31 and an open structure located on one side of the receiving chamber 31, and the display panel 40 is detachably or rotatably installed in the open structure, so that the pathological slice scanner can be operated by the operator on the display panel 40, and the running state of the pathological slice scanner can be checked based on the display panel 40. In addition, since the display panel 40 is detachably or rotatably installed in the open structure, the subsequent maintenance of the scanning device 100 can be facilitated, or when the scanning device 100 scans a small amount of slices 400 to be scanned, the display panel 40 is opened from the open structure, and the slices 400 to be scanned are placed in the scanning device 100 for scanning, without the need of placing the slices 400 to be scanned in the storage device 200 and then transferring them to the scanning device 100.

[0235] In an optional embodiment, the conveying assembly 12 has a slice 400 detection station between the slice feeding station 12a and the slice removing station 12b, and the state recognition assembly 14 is arranged on the slice 400 detection station and used to detect the state information of the slices 400 placed in the loading assembly 11, so that the material moving assembly 13 can transfer the slices 400 in the loading assembly 11 according to the state information detected by the state recognition assembly 14.

[0236] In an alternative embodiment, the second openings 33 are located on two adjacent sides of the scan gantry 30.

[0237] The foregoing disclosure provides many different embodiments or examples for implementing different structures of the present application. For purposes of simplicity, the description is broken into three parts based on the different structures. Of course, the description is intended to be illustrative only and is not meant to limit the present application. Furthermore, the description is not as clear as possible to the extent that it can interfere with the patentability of the present application. Moreover, the present application can refer to a reference numeral and / or a reference letter in different examples. Such repetition is for the sake of simplicity and clarity and is not itself indicative of a relationship between the various embodiments and / or arrangements discussed. Furthermore, the present application provides various specific examples of processes and materials, but one of ordinary skill in the art can recognize the application of other processes and / or the use of other materials.

[0238] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" etc. means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The exemplary description of the above terms in the specification does not necessarily refer to the same embodiment or example. Moreover, the specific feature, structure, material or characteristic described can be combined in any appropriate manner in one or more embodiments or examples.

Claims

1. A pathological section scanner, comprising a loading and unloading mechanism and a scanning mechanism; the loading and unloading mechanism is used to transfer a section to be scanned on the section rack to a corresponding position of the scanning mechanism to be scanned by the scanning mechanism, the loading and unloading mechanism comprises a conveying assembly and a loading assembly for fixing a section rack containing a section to be scanned, the loading assembly is arranged on the conveying assembly and can reciprocate along a first direction; the scanning mechanism comprises a base, a stage assembly and a scanning assembly which is immovable relative to the base, the stage assembly is arranged on the base and can reciprocate along a second direction, so that the scanning assembly can scan a section to be scanned placed on the stage assembly.

2. The scanner of claim 1, wherein, the loading assembly comprises a positioning assembly and a loading seat connected with the conveying assembly, the loading seat is formed with a containing groove for placing the section rack, the positioning assembly is arranged in the containing groove and is used to limit the position of the section rack in the containing groove; and / or, the first direction and the second direction are perpendicular.

3. The scanner of claim 2, wherein, the positioning assembly comprises a pushing structure and a positioning part connected with the pushing structure, the pushing structure is fixed on the loading seat, and the positioning part is movably mounted in the containing groove and can move along the second direction to vertically fix the section rack in the containing groove.

4. The scanner of claim 3, wherein, the pushing structure comprises a first driving member and a first transmission member, the first driving member is mounted on the loading seat, and the positioning part is in transmission connection with the first driving member through the first transmission member, so that the positioning part can abut on the section rack under the driving of the first driving member.

5. The scanner of claim 4, wherein, the positioning assembly comprises a first guide structure and a first fixing member, the first driving member is fixed on the loading seat through the first fixing member, one end of the first guide structure is fixedly connected with the positioning part, and the other end of the first guide structure is in sliding connection with the first fixing member.

6. The scanner of claim 3, wherein, the positioning part has a buffer part arranged on a side of the positioning part facing the section rack.

7. The scanner of claim 3, wherein, the positioning part comprises a first limiting structure, the loading seat is provided with a second limiting structure, one end of the first limiting structure is fixedly connected with the positioning part, and the other end of the first limiting structure is matched with the second limiting structure.

8. The scanner of claim 3, wherein, the loading seat comprises a first limiting part and a second limiting part arranged in a spaced manner along a first direction, the first direction is perpendicular to the second direction, the first limiting part is matched with the second limiting part and is used to limit the position of the section rack in the first direction.

9. The scanner of claim 8, wherein, the loading seat has a first side and a second side arranged oppositely, the first limiting part is fixed on the first side, and the second limiting part is movably mounted on the second side and can move towards or away from the first limiting part.

10. The scanner of claim 9, wherein, the loading seat has a third side and a fourth side arranged oppositely, the third side is fixedly unchanged relative to the first side, and the pushing structure is arranged in the fourth side and is used to drive the positioning part to move towards or away from the third side.

11. The scanner of claim 3, wherein, The base of the loading seat is obliquely arranged towards the side away from the scanning mechanism, so that the slide rack placed in the accommodating groove can be obliquely arranged towards the side away from the scanning mechanism.

12. The scanner of claim 11, wherein, The oblique angle of the base of the loading seat relative to the horizontal plane is between 1 degree and 10 degrees.

13. The scanner of claim 2, wherein, Both sides of the loading seat are provided with waist recess grooves.

14. The scanner of claim 2, wherein, The loading assembly comprises a first detection member which is electrically connected with the positioning assembly and is used for detecting the moving position of the positioning assembly.

15. The scanner of claim 2, wherein, The loading assembly comprises a second detection member which is arranged in the accommodating groove and is used for detecting the placement of the slide rack in the accommodating groove.

16. The scanner of any one of claims 1 to 15, wherein, The loading and unloading mechanism further comprises a material moving assembly which comprises a material moving clamp jaw and a moving assembly connected with the material moving clamp jaw, and the moving assembly is used for driving the material moving clamp jaw to move along at least one degree of freedom direction to move the slides between the loading assembly and the object table assembly.

17. The scanner of claim 16, wherein, The material moving clamp jaw comprises a first material moving clamping part, a second material moving clamping part and a material moving clamp jaw driving member which is connected with the first material moving clamping part and the second material moving clamping part and is used for driving the first material moving clamping part and the second material moving clamping part to open and close to realize the clamping or releasing of the slides by the material moving clamp jaw.

18. The scanner of claim 17, wherein, At least one of the first material moving clamping part and the second material moving clamping part is provided with two spaced apart clamp jaws, and the material moving clamping part with the two clamp jaws is used for abutting against the side of the slide with the identity information.

19. The scanner of claim 16, wherein, The moving assembly comprises a longitudinal moving assembly and a vertical moving assembly, the vertical moving assembly is used for driving the material moving clamp jaw to reciprocate along the vertical direction, and the longitudinal moving assembly is used for driving the material moving clamp jaw to move back and forth along the horizontal direction.

20. The scanner of claim 19, wherein, The longitudinal moving assembly comprises a longitudinal mounting base, a longitudinal driving member, a longitudinal guide member and a longitudinal transmission member, the material moving clamp jaw is slidably mounted on the longitudinal mounting base through the longitudinal guide member, and the longitudinal driving member is in transmission connection with the material moving clamp jaw through the longitudinal transmission member and is used for driving the material moving clamp jaw to move back and forth along the horizontal direction.

21. The scanner of claim 19, wherein, The vertical moving assembly comprises a vertical connecting base, a vertical driving member and a vertical transmission member, the vertical driving member is in transmission connection with the material moving clamp jaw through the vertical transmission member and is used for driving the material moving clamp jaw to move up and down along the vertical direction.

22. The scanner of claim 16, wherein, The number of the material moving clamp jaws is at least two, and at least two material moving clamp jaws are spaced apart along the first direction.

23. The scanner of claim 22, wherein, The moving assembly further comprises a transverse moving assembly, at least two material moving clamp jaws are in transmission connection with the transverse moving assembly, so that at least two material moving clamp jaws can move along the left and right directions under the driving of the transverse moving assembly.

24. The scanner of claim 17, wherein, The material moving clamp jaw comprises a rotating structure, the material moving clamp jaw driving member is connected with the moving assembly through the rotating structure, so that the material moving clamp jaw driving member can rotate around the rotating shaft of the rotating structure.

25. The scanner of claim 24, wherein, The material moving assembly comprises a connecting assembly, the material moving gripper comprises a first material moving gripper and a second material moving gripper, the second material moving gripper is connected with the first material moving gripper through the connecting assembly, and the first material moving gripper or the second material moving gripper is connected with the rotating structure.

26. The scanner of any one of claims 16 to 25, wherein, The loading and unloading mechanism further comprises a state identifying assembly, which is used to detect the state information of the slice placed in the loading assembly, so that the material moving assembly can move the slice in the loading assembly according to the state information detected by the state identifying assembly.

27. The scanner of claim 26, wherein, The conveying assembly is located below the state identifying assembly.

28. The scanner of claim 26, wherein, The conveying assembly has a slice feeding station and a slice moving-out station, the state identifying assembly is arranged above the slice feeding station or between the slice feeding station and the slice moving-out station, and the position of the slice moving-out station corresponds to the position of the objective table assembly.

29. The scanner of claim 28, wherein, The position of the material moving assembly corresponds to the position of the slice moving-out station, so that the material moving gripper can move to the loading assembly in the vertical direction to take out the slice in the loading assembly.

30. The scanner of claim 1, wherein, The conveying assembly comprises a conveying track, the loading assembly reciprocates along the length direction of the conveying track, and the length direction of the loading seat is perpendicular to the length direction of the conveying track.

31. The scanner of any one of claims 1 to 30, wherein, The scanning mechanism comprises a linear driving assembly, the objective table assembly reciprocates in the second direction under the driving of the linear driving assembly, so that the to-be-scanned slice placed on the objective table assembly can pass through the part of the scanning assembly and is completely located in the scanning range of the scanning assembly. And / or, The scanning assembly comprises a plurality of microscopic objectives, and the plurality of microscopic objectives are arranged in an array to form an array objective, and the effective scanning width region of the array objective in the second direction covers at least the width of the tissue on the to-be-scanned slice.

32. The scanner of claim 31, wherein, The base is provided with a scanning channel, the scanning channel is located at the corresponding position of the scanning assembly, the objective table assembly is located on the scanning channel, and the orthographic projection of the scanning assembly on the base in the height direction is located in the scanning channel.

33. The scanner of claim 31, wherein, The scanning mechanism further comprises a second transmission member and a first linear moving assembly, the second transmission member is slidingly installed on the first linear moving assembly, the linear driving assembly and the objective table assembly are installed on the second transmission member, and the first linear moving assembly is installed on the base and used to guide the objective table assembly to reciprocate in the second direction.

34. The scanner of claim 33, wherein, The first linear moving assembly comprises a target guide rail, the target guide rail is installed on the base in the second direction, and the second transmission member is slidingly installed on the target guide rail.

35. The scanner of claim 33, wherein, The second transmission member is arranged in a first direction, and the second direction is perpendicular to the first direction.

36. The scanner of claim 33, wherein, The width of the target guide rail of the first linear moving assembly is equivalent to more than twice the width of a single-axis guide rail, so that the base can be stably connected to the sliding block of the target guide rail.

37. The scanner of claim 32, wherein, The objective table assembly comprises a focusing table and an objective table, the objective table is provided with an objective supporting surface for placing a slice to be scanned, and the objective table is installed on the scanning channel through the focusing table to focus the slice on the objective supporting surface relative to the scanning assembly by adjusting the focusing table.

38. The scanner of claim 32, wherein, The objective table assembly comprises at least three leveling assemblies, and the objective table of the objective table assembly is installed on the scanning channel through the at least three leveling assemblies which are not in the same straight line to make the flatness of the slice on the objective table within a preset range relative to a preset reference plane by adjusting the leveling assemblies.

39. The scanner of claim 38, wherein, The leveling assemblies are distributed on opposite sides of the objective supporting surface.

40. The scanner of claim 38, wherein, The objective table assembly further comprises a lifting table, the objective table is installed on the lifting table through the leveling assemblies, and the lifting table is movably installed on the focusing table of the objective table assembly to drive the objective table to move along the height direction of the objective table when moving.

41. The scanner of claim 40, wherein, Each leveling assembly comprises a first adjusting member and a second adjusting member, the first adjusting member is used to connect the focusing table and the objective table to lift the corresponding local part of the objective table relative to the focusing table when adjusting, and the second adjusting member is used to connect the focusing table and the objective table to lower the objective table relative to the focusing table when adjusting.

42. The scanner of claim 40, wherein, The focusing table has a square structure, and the four leveling assemblies are arranged in a square shape on the lifting table and the objective table.

43. The scanner of claim 40, wherein, One of the lifting table and the objective table is provided with a first positioning member, and the other is provided with a first positioning slot, and the first positioning member and the first positioning slot are matched in concave-convex mode.

44. The scanner of claim 40, wherein, The second driving member is a voice coil motor.

45. The scanner of claim 37, wherein, The top of the focusing table is concavely provided with a mounting cavity, the mounting cavity is provided with a second driving member and a second linear moving assembly, the objective table is installed on the top of the focusing table through the second linear moving assembly and is driven by the second driving member to move along the depth direction of the mounting cavity.

46. The scanner of claim 32, wherein, The objective table moving device further comprises a grating measuring system for measuring the moving distance of the objective table assembly in the scanning channel.

47. The scanner of claim 32, wherein, The scanning mechanism further comprises a fixing assembly arranged on the objective table assembly for fixing the slice placed on the objective table assembly.

48. The scanner of claim 47, wherein, The fixing assembly comprises a first clamping member, a second clamping member and a clamping switch assembly, the first clamping member and the second clamping member are movably arranged on the objective table assembly and jointly form a clamping space for clamping the slice with the objective supporting surface of the objective table assembly, and the first clamping member and the second clamping member are relatively close or far away under the action of the clamping switch assembly.

49. The scanner of claim 48, wherein, The side of the first clamping member facing the clamping space and the side of the second clamping member facing the clamping space are both provided with at least one abutting part, the first clamping member and the second clamping member are relatively close to clamp different parts of the slice in the clamping space from the opposite sides of the slice through the abutting parts of the first clamping member and the second clamping member under the action of the clamping switch assembly, or the first clamping member and the second clamping member are relatively far away to release the clamping of the slice in the clamping space.

50. The scanner of claim 49, wherein, The ratio between the length of the clamping area formed by the abutting portions of the first and second clamping members and the length of the slice is greater than or equal to 1 / 2 in the length direction of the slice; and / or, The object table assembly is provided with a feeding entrance for feeding the slice into the object table surface, the feeding entrance is communicated with the clamping space, and at least one of the abutting portions is located at the feeding entrance; and / or, All the abutting portions on the first and second clamping members are arranged in a straight line gap along the length direction of the slice, and the abutting portions on the first clamping member are arranged opposite to the abutting portions on the second clamping member.

51. The scanner of claim 50, wherein, The first and second clamping members are provided with three abutting portions, one of which is used for clamping the front end of the slice, one of which is used for clamping the middle part of the slice, and one of which is used for clamping the slice at the feeding entrance.

52. The scanner of claim 48, wherein, The clamping switch assembly comprises a switch guide and a switch member, the switch guide is provided with a guide surface, the guide surface comprises an opening retaining surface and a clamping retaining surface, and the opening retaining surface and the clamping retaining surface are arranged in sequence along the feeding direction of the slice; When the switch member abuts against the opening retaining surface, the abutting portions have a gap with the slice in the clamping space to release the clamping of the slice; when the switch member abuts against the clamping retaining surface, the abutting portions on the first and second clamping members jointly clamp the slice.

53. The scanner of claim 52, wherein, The guide surface further comprises a transition arc surface between the opening retaining surface and the clamping retaining surface; the opposite ends of the transition arc surface are tangent to the opening retaining surface and the clamping retaining surface, respectively; When the switch member moves relative to the switch guide along the feeding direction of the slice and the switch member abuts against the transition arc surface, the abutting portions gradually approach the slice in the clamping space to finally clamp the slice; When the switch member moves relative to the switch guide along the feeding direction of the slice and the switch member abuts against the transition arc surface, the abutting portions gradually approach the slice in the clamping space to finally clamp the slice; And / or, the switch member is a cam, and the cam surface of the cam abuts against the guide surface when the guide surface abuts against the switch member.

54. The scanner of claim 51, wherein, The first clamping member is a movable clamp, the second clamping member is fixedly installed on the object table of the object table assembly, the clamping switch assembly further comprises a third linear movement assembly, the first clamping member is slidably connected to the object table through the third linear movement assembly and can relatively approach or move away from the second clamping member.

55. The scanner of claim 51, wherein, The clamping switch assembly further comprises an elastic buffer, the elastic buffer is arranged between the object table of the object table assembly and the first clamping member, and is used for providing a buffer force for the opening or clamping of the first clamping member.

56. The scanner of claim 32, wherein, The scanning mechanism comprises a positioning assembly arranged along the second direction and electrically connected with the linear drive assembly, and is used for controlling the moving position of the object table assembly.

57. The scanner of claim 32, wherein, The scanning mechanism comprises an illuminating assembly arranged on the stage of the stage assembly for providing light from the back when the slice is scanned.

58. The scanner of claim 32, wherein, The scanning mechanism comprises an image recognition assembly for reading the coded information on the slice.

59. The scanner according to any one of claims 1 to 58, wherein, The scanner further comprises a scanning rack, a receiving chamber and a first opening on one side of the receiving chamber are arranged in the scanning rack, the loading and unloading mechanism and the scanning mechanism are arranged in the receiving chamber, and the first opening is used for placing a slice rack containing slices to be scanned into the loading and unloading mechanism, so that the loading and unloading mechanism can transport the slices on the slice rack to the scanning mechanism for scanning.

60. The scanner of claim 59, wherein, The scanning rack comprises a housing and a protective shell arranged in the first opening, the protective shell is provided with a feeding port for the loading and unloading mechanism to pass through, which is used to separate the receiving chamber into a working chamber and a taking and placing chamber, so that part of the structure of the loading and unloading mechanism and the scanning mechanism are enclosed in the working chamber, and the taking and placing chamber is used for taking and placing the slice rack.

61. The scanner of claim 59, wherein, The rack comprises a door plate mounted in the first opening and used for opening or closing to shield the first opening.

62. The scanner according to any one of claims 1 to 58, wherein, The scanner further comprises a material moving mechanism and a storage mechanism for storing the slice rack, and the material moving mechanism is used to realize the transfer of the slice rack between the storage mechanism and the loading and unloading mechanism.

63. The scanner of claim 62, wherein, The storage mechanism comprises a rack body and a placing assembly arranged in the rack body, the rack body has an opposite storage side and a material moving side, the placing assembly is provided with a storage groove for placing the slice rack, and one end of the storage groove close to the material moving side is provided with an adjusting piece for limiting the placement position of the slice rack placed from the storage side.

63. The scanner of claim 62, wherein one end of the adjusting piece is provided with a blocking part extending towards the inside of the storage groove, so that one end of the slice rack placed in the storage groove abuts against the blocking part to limit the position of the slice rack placed in the storage groove.

64. The scanner of claim 62, wherein, A plurality of partition plates are arranged at intervals on the placing assembly to form at least one storage groove; and / or the adjusting piece is detachably connected with the partition plate.

65. The scanner of claim 62, wherein, Each storage groove is formed by the relative limiting of adjacent partition plates, the partition plate is provided with a mounting groove at one end away from the storage side, the adjusting piece is detachably mounted in the mounting groove, and the two ends of the adjusting piece can selectively change direction when connected to the mounting groove to limit different lengths of slice racks.

66. The scanner of claim 65, wherein, The placing assembly comprises a placing plate, the partition plate has a connecting section connected with the placing plate and a supporting section extending at least partially towards the inside of the storage groove, the supporting section is connected at one end of the connecting section away from the placing plate, and is used for laterally supporting the slice rack.

67. The scanner of claim 66, wherein, The supporting section has a first supporting edge arranged obliquely, and the slope of the first supporting edge is matched with the slope of a first supporting part of the slice rack.

68. The scanner of claim 67, wherein, The mounting groove is formed on the support section, the adjusting member is provided with a second support edge with the same inclination as the first support edge, and one end of the second support edge is formed with a blocking portion.

69. The scanner of claim 64, wherein, One of the partition plate and the adjusting member is provided with a guide rail, the other of the partition plate and the adjusting member is provided with a sliding groove, and the adjusting member is detachably connected with the partition plate through cooperation of the sliding groove and the guide rail; and / or, The placing assembly further comprises a connecting piece, the adjusting member is provided with a connecting hole penetrating through both ends, the partition plate is provided with a fixing hole, and the connecting piece is connected with the fixing hole after penetrating through the connecting hole.

70. The scanner of claim 64, wherein, The placing assembly further comprises a limiting piece, the limiting piece is arranged at one end of the partition plate close to the storage side, and is used for limiting both sides when the slide rack is placed into the storage groove.

71. The scanner of claim 70, wherein, The limiting piece has a horizontal section and a vertical section, the limiting piece is connected with the partition plate through the horizontal section, and the vertical section is arranged at one end of the horizontal section away from the opening structure.

72. The scanner of claim 64, wherein, The middle part of the partition plate has a notch groove, the slide rack is gripped from the notch groove by a mechanical gripper or a human hand.

73. The scanner of claim 64, wherein, The storage groove is provided with a detection assembly, the detection assembly is used for detecting whether the slide rack exists in the storage groove and / or whether the slide rack is in place.

74. The scanner of claim 73, wherein, The detection assembly comprises a first sensor, the first sensor is arranged at one end close to the storage side, and is used for detecting whether the slide rack exists in the storage groove.

75. The scanner of claim 74, wherein, The detection assembly comprises a second sensor, the second sensor is arranged at one end away from the storage side, and is used for detecting whether the slide rack is in place.

76. The scanner of claim 73, wherein, The material moving mechanism is electrically connected with the detection assembly, when the detection assembly detects that the slide rack in the storage groove is placed in place, the material moving mechanism moves the slide rack.

77. The scanner of claim 63, wherein, The storage mechanism comprises a cover plate, the cover plate is arranged on the storage side of the rack body, and is used for opening or closing the storage groove.

78. The scanner of claim 63, wherein, The storage mechanism comprises a state indicating piece, a position of the state indicating piece corresponds to a position of the storage groove, and the state indicating piece is used for displaying placement information of the slide rack placed in the storage groove.

79. The scanner of any one of claims 62 to 78, wherein, The material moving mechanism comprises a displacement assembly and a gripper assembly, the gripper assembly is connected with the displacement assembly, so that the displacement assembly can drive the gripper assembly to move in at least one degree of freedom direction to move the slide rack.

80. The scanner of claim 79, wherein, The gripper assembly comprises a first transfer gripper, a second transfer gripper and a transfer gripper driving piece, the transfer gripper driving piece is used for driving the first transfer gripper to move relative to the second transfer gripper, so that the gripper assembly can clamp the slide rack.

81. The scanner of claim 80, wherein, The first transfer gripper and the second transfer gripper each have a horizontal part and a vertical part, the vertical part is connected with the transfer gripper driving piece through the horizontal part, so that the gripper assembly can clamp the slide rack from the side in the length direction.

82. The scanner of claim 79, wherein, The displacement assembly comprises a longitudinal displacement assembly, a vertical displacement assembly and a transverse displacement assembly, the gripper assembly is connected with the vertical displacement assembly through the longitudinal displacement assembly, and the vertical displacement assembly is installed on the rack of the pathological scanner through the transverse displacement assembly.

83. The scanner of claim 62, wherein, The scanner further comprises a scanning rack, the scanning rack is internally provided with a receiving chamber and a second opening located at one side of the receiving chamber, the loading and unloading mechanism and the scanning mechanism are arranged in the receiving chamber, and the second opening is used for moving at least part of the structure of the loading and unloading mechanism from the receiving chamber to the outside of the scanning rack, so that the material moving mechanism can place or take out the slide rack in or from the loading and unloading mechanism.

84. The scanner of claim 83, wherein, The loading assembly of the loading and unloading mechanism is provided with an extension seat in the first direction, the extension seat is fixed on the conveying track of the loading and unloading mechanism, and the extension length of the extension seat is not less than the width of the loading assembly.

85. The scanner of claim 83, wherein, The scanning device further comprises a display panel for display and / or interactive operation, the scanning rack is provided with a receiving chamber and an open structure located at one side of the receiving chamber, the display panel is detachably or rotatably installed in the open structure, and the loading and unloading mechanism and the scanning mechanism are contained in the receiving chamber.

86. The scanner of claim 85, wherein, The second opening and the open structure are located on two adjacent sides of the scanning rack.

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