CN103033408A - Device and method for remotely obtaining digital slice from glass slice - Google Patents

Abstract

The invention designs a device and method for quickly obtaining digital slices from glass slices, and solves the problems caused by the defects of glass slices through the device. Including slide box assembly, loading platform assembly, imaging and scanning assembly, slice picking manipulator assembly and control and data processing unit, slide box assembly is the loading slide library; loading platform assembly has horizontal, The three-dimensional movement in the vertical direction and the vertical direction meets the requirements of focusing the glass section under the optical microscope; the taking-up manipulator assembly takes out the glass section from the slide box and accurately places it on the loading platform assembly. The present invention also lowers the technical requirements for glass slice reading technicians, as long as the device can be operated, the digital slice preparation work can be completed. In addition, the device can be adapted to other control methods while also being able to complete the work.

Description

A device and method for remotely obtaining digital slices from glass slices

technical field

This solution is mainly used in remote medical consultation analysis, and is used for the preparation and method of converting glass slices into digital slices in the process of pathological analysis and remote consultation by hospital doctors.

Background technique

Telemedicine is a discipline that integrates computer, image processing and communication technologies to finally realize the remote transmission of big data true color images. With the continuous development of network transmission technology and its medical visualization level, this field provides the possibility to integrate and share medical resources to the greatest extent, and has been more and more widely used in medical diagnosis and treatment, and has increasingly shown its importance. [1] Zhu Chenyan, Shi Huaqiang. The current situation and development trend of remote pathological diagnosis [M]. Journal of Diagnostic Pathology. 2010,17(1):49,53.

At present, my country's medical resources are generally seriously insufficient, and the distribution is extremely uneven. China's population accounts for one-fifth of the world's total, but its medical and health resources only account for two percent of the world's. Most of the medical resources are concentrated in cities, and 80% of the resources in cities are concentrated in large hospitals. Secondly, due to the unreasonable allocation of medical resources in our country, the problem of difficulty in seeing a doctor is common. On the one hand, many people seek medical treatment in different places, which increases the difficulty of seeking medical treatment and increases the financial burden; on the other hand, it causes overcrowding in large hospitals. With the development of network medical remote expert consultation, telemedicine has become a reality, and the data is more convenient to transmit, so that a few experts with high medical skills can conduct pathological analysis for patients in various places without going out, saving doctors' time and energy. , It also reduces the financial burden of patients traveling back and forth. [2] News: The second difficulty in seeing a doctor is that medical resources are insufficient and unevenly distributed.

In addition, pathological analysis mostly takes glass sections of cells, tissues or organs as the research object. Glass sections have great limitations in use. The time and space of research are limited to a certain extent. Secondly, glass slices are easily damaged during production and use, and specimens are easy to fade, making it difficult to preserve them permanently.

Contents of the invention

In order to solve the deficiencies of the existing technology, avoid the above-mentioned shortcomings of traditional glass slices, and provide pathological basis for remote consultation, the concept of digital slices is proposed. The digital slice is not a static picture, it contains all the lesion information on the glass slice, this digital slice (super large space, high resolution picture) can be arbitrarily enlarged and reduced on the computer, and can be observed by using the digital slice For any position on the glass slice, the corresponding position can also be magnified to 5 times, 10 times, 20 times, 40 times, just like zooming in and out on a microscope. Users can remotely observe the images on the digital slides on a computer or other service terminals without using a microscope, which has the effect of being close at hand but immersive.

The technical scheme that the present invention solves its technical problem adopts is:

An apparatus for remotely obtaining digital slices from glass slices, comprising the following features:

Slide box assembly: The slide box assembly is composed of several slide boxes installed on the same rotating platform, and there are glass slice slots arranged side by side in the slide box, the slide box The position can be moved in the up and down direction; the entire slide box can move up and down along the track to realize the change of the relative up and down position of the glass slice; the position of different slide boxes can be changed by the rotation of the slide box assembly around the installation axis;

Object-carrying platform assembly: The object-carrying platform assembly has three-dimensional movement in the horizontal direction, vertical direction and vertical direction, which meets the requirements of focusing glass slices under an optical microscope;

Imaging scanning assembly: including an optical microscope, a camera and a memory, the imaging scanning assembly extends directly above the object platform assembly in the form of a cantilever, and the optical microscope: used to focus and magnify the image in the glass section ; camera: digital image acquisition device from the eyepiece of the optical microscope; memory: used to store images;

The slice-taking manipulator assembly takes out the glass slice from the slide box and places it accurately on the loading platform assembly. After placing it accurately, the manipulator rotates 90 degrees and waits for the platform to focus and scan. After the image scanning is completed, the manipulator turns 90 degrees and takes The slides are placed in a special slide box containing the scanned glass slices, which can move in the x and y directions in the horizontal plane;

Control and data processing unit: used to control the movement of the drive motors in the film taking manipulator assembly, loading platform assembly and cassette assembly, and control the acquisition, reading and storage of information of the imaging scanning assembly.

There are four slide cassettes, and they are vertically installed on the rotating platform to form four units, and the rotation is controlled by the control system to realize the function of picking up different glass slices, so as to meet the requirements of the fixed horizontal pick-up position of the pick-up manipulator , each unit can contain multiple glass slices, up to 120 slices at a time, the glass slices are inserted in the glass slice slots in an array up and down, waiting to be used, it is a glass slice sample library.

The loading platform assembly includes a platform and a three-dimensional adjustment frame. The three-dimensional adjustment frame is composed of three sets of screw guide rails and a drive motor, and has the function of three-dimensional movement in the horizontal direction, vertical direction and vertical direction. The platform Installed on the column of the three-dimensional adjustment rack, it is in a horizontal state.

The slice-taking manipulator assembly includes a mechanical arm and a slice-taking manipulator. The slice-taking manipulator is a clamp-type manipulator. The manipulator has two degrees of freedom of horizontal rotation and linear movement. First, the slice-taking manipulator grabs the glass slice, and then mechanically After the arm moves linearly and rotates horizontally, place the glass slice accurately on the loading platform assembly and release it. After placement, the robotic arm rotates 90 degrees and waits for the platform to focus and scan. After the image is scanned, the robotic arm rotates 90 degrees to take the glass slice and Return to slide box.

A method of remotely obtaining digital slices from glass slices,

Step 1, the control and data processing unit sends out a signal to take the slide, the cassette assembly adjusts the position of the slide cassette, the slide pick-up manipulator assembly reaches the slide pickup position and takes out the glass slice from the slide cassette, and feeds back to the control and data processing unit;

Step 2: After the control and data processing unit receives the successful signal of taking slices, it controls the slice picking manipulator assembly to adjust its position and run to the platform of the loading platform assembly, put the glass slice on the platform, and the slice picking manipulator rotates 90 Dodge to avoid affecting the work of the platform;

Step 3, the loading platform assembly automatically adjusts its position and clamps the glass slice, and realizes movement in the horizontal, vertical, and vertical three-dimensional spaces to match the position of the glass slice under the objective lens to achieve automatic focus; after focusing, the control device sends out a signal Take a photo and scan to read the data, then adjust the position again and repeat the above work until the data is read,

Step 4: The slice-taking manipulator rotates 90 degrees to take away the read glass slices, the slice-taking manipulator assembly returns to the position of the slide box assembly along the original path, and puts the glass slices into the slide box where the slices have been read , a workflow ends.

The beneficial effect of the invention is that it solves the problem that the existing telemedicine only stays at the theoretical level, and provides a practical device. At the same time, this equipment can improve the hospital's diagnostic level, strengthen quality control, and improve competitiveness; the diagnosis rate is improved, the time is shortened, and timely treatment benefits patients; patients no longer go to big cities and big hospitals to be exhausted, retaining patients, and improving hospital efficiency ; Reduce misdiagnosis and medical malpractice, reduce doctor-patient disputes.

Description of drawings

Fig. 1 is one of perspective views of the present invention;

Fig. 2 is the second perspective view of the present invention;

Fig. 3 is a three-dimensional view of the sheet-taking manipulator assembly;

Fig. 4 is an overall perspective view of the loading platform;

Fig. 5 is a three-dimensional view of the slide box assembly;

Figure 6 is a perspective view of the slide cassette;

In the figure: 1 slide box assembly, 11 slide box, 12 rotating platform, 13 glass section slot, 2 loading platform assembly, 21 platform, 22 three-dimensional adjustment frame, 3 imaging scanning assembly, 31 optical microscope , 32 cameras, 4 taking film manipulator assembly, 41 mechanical arm, 42 taking film manipulator, 43 electromagnetic suction mechanism.

Detailed ways

As shown in Figure 1 to Figure 6,

An apparatus for remotely obtaining digital slices from glass slices, comprising the following features:

Cassette assembly 1: The cassette assembly is composed of a number of cassettes 11 installed on the same rotary platform 12. The rotary platform 12 is driven by an independent drive motor, and there are up and down juxtapositions in the cassettes. With the glass slice slot 13 provided, the slide cassette can move up and down under the action of an independent drive device, and the up and down position of the slot can be adjusted at any time. With digital coding, precise adjustment can be realized. In this assembly, there are four slide cassettes 11, and they are vertically installed on the rotating platform to form four units, whose rotation is controlled by the control system to realize the function of picking up different glass slices, so as to meet the requirements of the horizontal pick-up of slices by the pick-up manipulator. The position is fixed, each unit can contain multiple glass slices, and a maximum of 120 slices can be placed at a time. The glass slices are inserted into the glass slice slots in the upper and lower arrays, waiting to be used. It is a glass slice sample library, which can be used as needed Take a sample.

Loading platform assembly 2: The loading platform assembly includes a platform 21 and a three-dimensional adjustment frame 22. The three-dimensional adjustment frame is composed of three sets of screw guide rails and a drive motor, and has a three-dimensional adjustment in the horizontal direction, vertical direction and vertical direction. The function of movement has a similar structure to the general platform of the CNC machine tool. As shown in the figure, the platform 21 is installed on the column of the three-dimensional adjustment frame and is in a horizontal state, so that the position of the platform can be adjusted by adjusting the state of the three-dimensional adjustment frame , so that the object-carrying platform assembly has three-dimensional movement in the horizontal direction, vertical direction and vertical direction, and meets the requirement of focusing glass slices under an optical microscope. At the same time, a glass tangent point fixing mechanism, such as a positioning groove, is provided on the platform.

Imaging scanning assembly 3: including optical microscope 31, camera 32 and memory, imaging scanning assembly protrudes directly above the loading platform assembly 2 in the form of a cantilever, optical microscope 31: used for focusing and magnifying glass sections Image; camera 32: digital image acquisition device from the eyepiece of the optical microscope; memory: used to store images; used to extract confidence from glass sections and convert into digital information.

The sheet-taking robot arm assembly 4, the sheet-taking robot arm assembly includes a mechanical arm 41 and a sheet-taking robot arm 42, the sheet-taking robot arm 42 is a clamp-type robot arm, which can be opened and closed under the action of an electromagnetic suction mechanism 43, and the mechanical arm 41 has two degrees of freedom of horizontal rotation and linear movement. As shown in the figure, this is easy to realize. First, the glass slice is picked up by the manipulator, and then the glass slice is accurately placed on the load after the mechanical arm moves linearly and horizontally. After the platform assembly is released, the robotic arm rotates 90 degrees after placing it, and waits for the platform to focus and scan. After the image scanning is completed, the robotic arm rotates 90 degrees to take glass slices and send them back to the slide box. The function of the taking-up manipulator assembly is to take out the glass slices from the slide box and accurately place them on the loading platform assembly.

Control and data processing unit: used to control the movement of the drive motors in the film taking manipulator assembly, loading platform assembly and cassette assembly, and control the acquisition, reading and storage of information of the imaging scanning assembly.

A method for remotely obtaining digital slices from glass slices. The main control steps are as follows. Step 1: The control and data processing unit sends a signal for taking slices, the slide cassette assembly adjusts the position of the slide cassette, and the slice pick-up manipulator assembly reaches the slice pick-up position And take out the glass slice from the slide box, and feed it back to the control and data processing unit;

Step 2: After the control and data processing unit receives the successful signal of taking slices, it controls the slice picking manipulator assembly to adjust its position and run to the platform of the loading platform assembly, put the glass slice on the platform, and the slice picking manipulator rotates 90 degree of avoidance;

Step 3, the loading platform assembly automatically adjusts its position and clamps the glass slice, and realizes movement in the horizontal, vertical, and vertical three-dimensional spaces to match the position of the glass slice under the objective lens to achieve automatic focus; after focusing, the control device sends out a signal Take a photo and scan to read the data, then adjust the position again and repeat the above work until the data is read,

Step 4: The slice-taking manipulator rotates 90 degrees to take away the read glass slices, the slice-taking manipulator assembly returns to the position of the slide box assembly along the original path, and puts the glass slices into the slide box where the slices have been read , a workflow ends.

Combined with the detailed steps of this device, the composition is as follows:

Step 1: The controller in the control and data processing unit sends a signal to the controlled component;

Step 2: After the drive motor in the cassette assembly receives the signal, it drives the cassette to adjust its position, and sends a feedback signal to the controller after reaching the designated position; after the drive motor in the film picking manipulator assembly receives the signal, it drives the manipulator When it reaches the position to take the film, it sends a feedback signal to the controller; after the drive motor in the loading platform assembly receives the signal, it adjusts the position of the platform, and when the platform reaches the designated position, it sends a feedback signal to the controller;

Step 3: The controller receives the feedback signal in step 2, and sends a control signal to the driving motor of the film taking manipulator, which drives the film taking manipulator to complete taking the film and then sends a feedback signal to the controller;

Step 4: The controller receives the feedback signal in step 3 and sends a movement control signal to the driving motor of the film taking manipulator. After receiving the signal, the driving motor of the film taking manipulator drives the film taking manipulator to move to the designated position in front of the platform and reaches the designated position After that, send a feedback signal to the controller;

Step 5: The controller receives the feedback signal in step 4 and sends a film feeding control signal to the driving motor of the film taking manipulator. After receiving the signal, the driving motor of the film taking manipulator drives the film taking manipulator to put the film on the platform, and returns after the film is finished. Specify the position and turn it 90 degrees, send feedback information to the controller and wait for instructions;

Step 6: After the loading platform assembly has adjusted the position of the glass slice, it sends a feedback signal to the controller 1. After receiving the signal, the controller 1 sends an adjustment signal to the loading platform assembly, and the loading platform assembly drives the motor. After receiving the signal, adjust the position of the platform to achieve focus and send a feedback signal to the controller;

Step 7: After receiving the feedback signals in steps 5 and 6, the controller sends a reading signal to the data reading device. After completing the data reading, it sends a feedback signal to the controller 1 and stores the data in the image processing system 3;

Step 8: After receiving the feedback signal in step 7, the controller sends a position adjustment signal to the drive motor of the loading platform assembly, repeats steps 6 and 7 until the reading is completed, and then sends a signal to the controller.

Step 9: After the controller receives the feedback signal in step 8, it sends a control signal to the film taking manipulator assembly to take and send film from the platform. After the drive motor of the film taking manipulator assembly receives the signal, it drives the manipulator to take the film from the platform. After taking the film, return to the designated position, and rotate 90 degrees, send it back to the slide box, and send a feedback signal to the controller 1;

Step 10: After the controller receives the feedback signal in step 9, the cassette assembly drives the cassette to adjust its position after receiving the signal, and sends a feedback signal to the controller 1 after reaching the designated position;

Step 11: After the controller receives the feedback signal in step 10, it sends a film feeding signal to the film taking manipulator assembly. After receiving the signal, the drive motor of the film taking manipulator drives the manipulator to put the film into the cassette, and the film loading ends Return to the designated position, send feedback information to controller 1 and wait for instructions;

Step 12: When a film reading process ends, the controller continues to send signals to repeat the above steps until the last film is read, and a completion signal is sent, and the film reading process ends.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various modifications and improvements to the present invention. All should expand in the scope of protection as defined in the claims of the present invention.

Claims (6)

1. a long-range device by glass section acquisition digital slices is characterized in that, comprises following characteristics:

The slide cassette assembly: some slide cassettes on the same rotation platform form the slide cassette assembly by being installed in, and have the glass section slot that is set up in parallel up and down in described slide cassette, and described slide cassette is position-movable on above-below direction;

The article carrying platform assembly: the article carrying platform assembly possesses in the horizontal direction, the three-dimensional locomotive function of vertical direction and vertical direction, satisfies the requirement that the glass section focuses under optical microscope;

The image scanning assembly: comprise optical microscope, camera and storer, described image scanning assembly with the form of cantilever visit stretch in the article carrying platform assembly directly over, described optical microscope: be used for focusing on, amplifying the image of glass section; Camera: from the digital picture capturing device of the eyepiece of optical microscope; Storer: be used for memory image;

Get sheet mechanical arm assembly, get sheet mechanical arm assembly and from slide cassette, take out glass section and be placed on accurately on the article carrying platform assembly;

Control and data processing unit: be used for the action that sheet mechanical arm assembly, article carrying platform assembly and slide cassette assembly drive motor are got in control, and the Information Monitoring of control image scanning assembly, read and store.

2. a kind of long-range device by glass section acquisition digital slices according to claim 1 is characterized in that, is provided with light source below described article carrying platform assembly.

3. a kind of long-range section by glass according to claim 1 obtains the device of digital slices, it is characterized in that, described slide cassette is four, and vertically being installed in of state forms four unit on the rotation platform, can hold a plurality of glass sections in each unit, the glass section is inserting in glass section slot of array up and down.

4. a kind of long-range section by glass according to claim 1 obtains the device of digital slices, it is characterized in that, the article carrying platform assembly comprises platform and three-dimensional adjusting machine frame, described three-dimensional adjusting machine frame is comprised of three cover leading screw guide rails and drive motor, the function that have in the horizontal direction, the three-dimensional of vertical direction and vertical direction moves, described platform is installed on the column of three-dimensional adjusting machine frame, is in horizontality.

5. a kind of long-range section by glass according to claim 1 obtains the device of digital slices, it is characterized in that, get sheet mechanical arm assembly and comprise mechanical arm and get the sheet mechanical arm, the described sheet mechanical arm of getting is the clamp type mechanical arm, and described mechanical arm has and horizontally rotates and two degree of freedom of traveling priority.

6. a long-range method by glass section acquisition digital slices is characterized in that,

Step 1, control and data processing unit send gets the sheet signal, and the slide cassette assembly is adjusted the slide cassette position, gets the arrival of sheet mechanical arm assembly and gets the sheet position and take out the glass section in slide cassette, and feed back to control and data processing unit;

Step 2, control and after data processing unit receives that getting sheet becomes function signal, control is got sheet mechanical arm assembly by adjusting the position and running to article carrying platform assembly platform place, and the glass section is placed on the platform, gets the sheet mechanical arm and rotates 90 degree and avoid;

Step 3, article carrying platform assembly are adjusted its position and clamping glass section automatically, and realize that in level, vertical, vertical three dimensions motion is to cooperate the position realization automatically focusing of glass section under object lens; Defocused control device is sent the signal scanning reading out data of taking pictures, and then adjust the position and repeat above-mentioned work, until run through data,

Step 4 is got the sheet mechanical arm and is turned round 90 degree and take the glass section that runs through away, gets sheet mechanical arm assembly and returns slide cassette assembly position along former road, slide cassette is put in the glass section held the position that runs through section, and a workflow finishes.

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