CN111855578B - Pathological section scanner - Google Patents
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- CN111855578B CN111855578B CN202010816511.6A CN202010816511A CN111855578B CN 111855578 B CN111855578 B CN 111855578B CN 202010816511 A CN202010816511 A CN 202010816511A CN 111855578 B CN111855578 B CN 111855578B
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- 230000001575 pathological effect Effects 0.000 title claims abstract description 116
- 239000011521 glass Substances 0.000 claims abstract description 46
- 238000009434 installation Methods 0.000 claims description 21
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- 238000001514 detection method Methods 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000036285 pathological change Effects 0.000 description 4
- 231100000915 pathological change Toxicity 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 238000010827 pathological analysis Methods 0.000 description 3
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- 238000003759 clinical diagnosis Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000012921 fluorescence analysis Methods 0.000 description 1
- 230000002962 histologic effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000002055 immunohistochemical effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000008506 pathogenesis Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
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Abstract
The invention discloses a pathological section scanner, which comprises a moving device, a positioning device, a scanning device, a light source and an objective table for placing pathological sections, wherein the positioning device is used for positioning the scanning device; the moving device can drive the objective table to move in the horizontal direction, the moving device can move the objective table to the position above the light source, and when the objective table moves to the position between the positioning light source and the positioning acquisition device, the positioning acquisition device can acquire images of pathological sections so as to identify the initial position; the scanning device comprises a scanning acquisition device and a Z-axis lifting device; when the object stage moves between the scanning light source and the scanning acquisition device. The invention can move the slide glass with the pathological section to the positioning device and the scanning device through the moving device, the positioning device can acquire images of the pathological section so as to identify the initial position, the scanning device can acquire and scan the images of the pathological section, and the pathological section is read by simulating the observation of human eyes and the perspective of a microscope in a machine mode.
Description
Technical Field
The invention relates to a pathological section scanner.
Background
Pathological examination is a pathological morphological method used to examine pathological changes in organs, tissues or cells of the body. In order to investigate the disease process of organs, tissues or cells, a certain pathological morphology examination method can be adopted to examine the pathological changes of the organs, tissues or cells, discuss the reasons, pathogenesis and the occurrence and development processes of the pathological changes, and finally make pathological diagnosis. A pathological examination method includes such steps as observing the pathological change of specimen, cutting the pathological tissue to obtain pathological sections, and microscopic examination.
The digital slicing system can scan the whole glass slide in an all-around and rapid way, so that the traditional materialized glass slide is changed into a new generation of digital pathological section, and the method is an epoch-making innovation for the pathological diagnosis technology. The method can lead the pathologist to be separated from the microscope, solve the pathological diagnosis at any time and any place through the network, realize global on-line synchronous remote consultation or off-line remote consultation, and lead the diagnosis value to be equivalent to the microscope observation due to the provision of the full slice information, thereby having great significance on the time-space interpenetration transmission advantage. And the multi-layer three-dimensional reconstruction of pathological sections is realized, and the pathological section management is digitized. The system can be widely used for pathological clinical diagnosis, pathological teaching, histologic cell imaging, fluorescence analysis and immunohistochemical digital imaging. And the glass slice is scanned into a digital slice, so that the glass slice is convenient to store and read; just like the common printed photo is scanned into a digital photo, the computer can read the photo and see the doctor, and the single observation by a microscope is not needed.
The existing digital pathological section scanner is internally provided with a section scanning part and a section replacing part, but the existing digital pathological section scanner basically adopts a mode of controlling the scanner to work by a computer, so that the following defects are caused: 1. when the staff finishes loading the slice at the scanner end, the staff needs to operate and know the working state of the scanner before arriving at the computer, and if the staff operates for a plurality of times, the staff needs to go back and forth between the scanner and the computer for a plurality of times, so that the time of the staff is wasted, and the working efficiency is reduced. 2. The working state of the scanner cannot be mastered in real time, and if the working state of the scanner needs to be known, the scanner must be checked before a computer. 3. Since loading and scanning are performed on two machines, the worker cannot directly perform operations at the scanner after loading is completed. Meanwhile, the slice is made of glass and has the characteristics of fragility, sliding and thinness, so that the slice is laborious to take and place safely, and the flatness of the placement is easily affected when the slice is placed in the slice replacement part.
For example, the patent applied by the Highway Sonde Goos Co., ltd. Of Japanese patent, together with the Photonic company of Kabushiki Kaisha, for example, patent No. TW108124608, is known to collect a full scan of the stage. The corresponding equipment designed by Jiangsu Disat medical science and technology limited company in China is designed fully automatically as much as possible, but no better way is provided for improving the scanning efficiency.
Disclosure of Invention
The invention provides a pathological section scanner for overcoming the defects in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a pathological section scanner comprises a moving device, a positioning device, a scanning device, a light source and an objective table for placing pathological sections; the moving device can drive the objective table to move in the horizontal direction, the moving device can move the objective table to the position above the light source, the light source comprises a positioning light source and a scanning light source, the positioning device comprises a positioning acquisition device, and when the objective table moves between the positioning light source and the positioning acquisition device, the positioning acquisition device can acquire images of pathological sections so as to identify an initial position; the scanning device comprises a scanning acquisition device and a Z-axis lifting device; when the objective table moves between the scanning light source and the scanning acquisition device, the Z-axis lifting device can control the focal length of the scanning acquisition device for pathological section image imaging; the mobile device can control the scanning acquisition device to scan the pathological section in an image partition mode.
Further, the area of the positioning light source is larger than the area of the scanning light source.
Further, a base; the moving device comprises an X-axis moving device and a Y-axis moving device, the moving tracks of the Y-axis moving device and the X-axis moving device are mutually perpendicular, the X-axis moving device is arranged on the base, and the Y-axis moving device is connected with the X-axis moving device through a connecting plate.
Further, the objective table comprises a mounting part, wherein the mounting part is provided with a mounting position capable of placing a glass slide and a limiting piece capable of limiting the movement of the glass slide, and the bottom surface of the mounting position is a through groove capable of being penetrated by a light source.
Further, the device also comprises a frame, wherein an opening capable of placing or taking out the glass slide is arranged on the frame, and the opening and the mounting position are positioned on the same horizontal plane.
Further, the X-axis moving device comprises an X-axis guide rail, an X-axis sensor, an X-axis power part, an X-axis moving part and an X-axis switch fixed on the X-axis moving part; the X-axis power part can control the X-axis moving part to move along the X-axis guide rail, and the X-axis sensor and the X-axis switch (35) can control the X-axis moving part to start or stop.
Further, the X-axis sensor comprises a first X-axis sensor, a second X-axis sensor and a third X-axis sensor; the three sensors are positioned on the same straight line and can be matched with the X-axis switch to perform position detection
Further, the Y-axis moving device comprises a Y-axis guide rail, a Y-axis sensor, a Y-axis power part, a Y-axis moving part, a Y-axis mounting plate and a Y-axis switch fixed on the Y-axis moving part; the Y-axis power part can control the Y-axis moving part to move along the Y-axis guide rail, the Y-axis sensor and the Y-axis switch can control the Y-axis moving part to start or stop, and the Y-axis sensor is fixed on the connecting plate through the Y-axis mounting plate.
Further, the Z-axis lifting device comprises a Z-axis driving part and a Z-axis installation part, wherein the Z-axis installation part is used for installing the scanning acquisition device, and the Z-axis driving part can move in the vertical direction through the Z-axis installation part.
Further, the positioning light source is an LED light plate; the scanning light source is an LED lamp.
In summary, the slide glass with the pathological section can be moved to the positioning device and the scanning device through the moving device, the positioning device can acquire images of the pathological section so as to identify the initial position, the scanning device can acquire and scan the images of the pathological section, and the pathological section is read in a machine mode by simulating the observation of human eyes and the perspective of a microscope.
Drawings
Fig. 1 is a schematic diagram of the front structure of the present invention.
Fig. 2 is a schematic structural diagram of an X-axis moving device according to the present invention.
Fig. 3 is a schematic diagram of a split structure of an X-axis moving device according to the present invention.
Fig. 4 is a schematic structural diagram of a Y-axis moving device according to the present invention.
Fig. 5 is a schematic diagram of a split structure of the Y-axis moving apparatus of the present invention.
Fig. 6 is a schematic view of the stage structure of the present invention.
Fig. 7 is a schematic structural diagram of a positioning device according to the present invention.
Fig. 8 is a schematic structural diagram of a scanning device according to the present invention.
Fig. 9 is a schematic structural diagram of a Z-axis lifting device according to the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention.
The invention is a device capable of detecting and scanning the histopathological section, the main steps are that firstly, the slide glass with the histopathological section is put on the object stage of the device, the histopathological section put on the slide glass usually contains pathological tissue collected from a patient, in the prior art, the patient tissue in the section needs to be observed in a certain order through a microscope and the like by human eyes, so as to find whether the patient has disease variation, and through the device, the manual observation can be converted into machine scanning, and the observation of the human eyes and the perspective of the microscope are simulated in the form of a machine, the specific working process is as follows: the object stage moves to the positioning device first, the positioning device performs preliminary scanning positioning on the pathological section on the slide glass, the initial position of the pathological section image is determined through the identification of the preset initial position mark on the slide glass (the initial position mark can be marked on the slide glass by adopting a cross shape or similar mark, the condition that the pathological section can be identified is met), then the object stage moves to the scanning device, the scanning device can further scan the pathological section, meanwhile, the object stage can move under the drive of the driving part and move and scan in different areas, the aim of carrying out regional scanning on the slide glass by the scanning device is realized, the whole image of the slide glass with infinite size (or a large number of slide glasses than the lens range) can be completely read through the regional scanning, the whole section state is completely observed, and after the whole scanning of the pathological section is completed, the object stage can move the slide glass with the pathological section out of equipment so as to be convenient for retrieving the slide glass.
As shown in fig. 1-6, a precise feeding device for pathological sections; comprises a moving device for placing a pathological section object stage 1, a light source 2 and controlling the object stage 1 to move; the moving means can move the stage 1 above the light source 2. The moving device comprises an X-axis moving device 3 and a Y-axis moving device 4, the moving tracks of the Y-axis moving device 4 and the X-axis moving device 3 are perpendicular to each other, the X-axis moving device 3 and the light source 2 are arranged on the base 10, and the Y-axis moving device 4 is connected with the X-axis moving device 3 through a connecting plate 49.
Briefly, the Y-axis movement device 4 and the X-axis movement device 3 mainly effect a movement of the stage 1 in the horizontal direction, which movement is currently mainly performed by moving the slide 9 with the pathological section onto the respective stations. Of course, the movement tracks of the Y-axis moving device 4 and the X-axis moving device 3 are straight lines and are perpendicular to each other. The Y-axis moving device 4, the X-axis moving device 3 and the stage 1 are arranged layer by layer, the X-axis moving device 3 is arranged at the bottommost part, the Y-axis moving device 4 is arranged at the upper part of the X-axis moving device 3, and the stage 1 is arranged at the upper part of the Y-axis moving device 4, that is, when the X-axis moving device 3 moves, the Y-axis moving device 4 and the stage 1 can be interlocked, and when the Y-axis moving device 4 moves, only the stage 1 is interlocked.
The X-axis moving device 3 includes an X-axis guide rail 31, an X-axis sensor 32, an X-axis power unit 33, an X-axis moving unit 34, and an X-axis switch 35 fixed to the X-axis moving unit 34; the X-axis power unit 33 can control the X-axis moving unit 34 to move along the X-axis guide rail 31, and the X-axis sensor 32 and the X-axis switch 35 can control the X-axis moving unit 34 to start or stop. The X-axis sensor 32 includes a first X-axis sensor 321, a second X-axis sensor 322, and a third X-axis sensor 323; the three sensors are positioned on the same straight line and can cooperate with an X-axis switch 35 to perform position detection, and taking a photoelectric sensor as an example, the X-axis sensor 32 is a photoelectric sensor, and the X-axis switch 35 is a photoelectric sensor switch; the X-axis power section 33 includes a first motor 331 and a first screw 332; the X-axis moving section 34 includes a first slider 341 and a first moving member 342, the first slider 341 being slidable along the X-axis guide rail 31, the first moving member 342 having one end connected to the first screw 332 and the other end connected to the first slider 341, and the connection plate 49 and the X-axis switch 35 being mounted on the first moving member 342.
The Y-axis moving device 4 includes a Y-axis guide rail 41, a Y-axis sensor 42, a Y-axis power unit 43, a Y-axis moving unit 44, a Y-axis mounting plate 46, and a Y-axis switch 45 fixed to the Y-axis moving unit 44; the Y-axis power part 43 can control the Y-axis moving part 44 to move along the Y-axis guide rail 41, the Y-axis sensor 42 and the Y-axis switch 45 can control the Y-axis moving part 44 to start or stop, and the Y-axis sensor 42 is fixed on the connecting plate 49 through the Y-axis mounting plate 46; the Y-axis sensor 42 includes a first Y-axis sensor 421, a second Y-axis sensor 422, and a third Y-axis sensor 423; the three sensors are positioned on the same straight line and can cooperate with the Y-axis switch 45 to perform position detection; taking a photoelectric sensor as an example, the Y-axis sensor 42 is a photoelectric sensor, and the Y-axis switch 45 is a photoelectric sensor switch; the Y-axis power part 43 comprises a second motor 431 and a second screw 432; the Y-axis moving part 34 includes a second slider 441 and a second moving member 442, the second slider 441 being capable of sliding along the Y-axis guide rail 41, one end of the second moving member 442 being connected to the second lead screw 432, the other end being connected to the second slider 441, the Y-axis switch 45 being mounted on the first moving member 342; the Y-axis guide rail 41 is mounted on a connection plate 49.
Specifically, when the slide 9 is mounted on the stage 1 or removed from the stage 1, it is considered as the initial position of the stage 1, at this time, the X-axis switch 35 is located at the forefront end of the X-axis sensor 32, the Y-axis switch 45 is also located at the forefront end of the Y-axis sensor 42, and then the X-axis power unit 33 is activated, so that the stage 1 is driven to move to the first station, that is, under the positioning and collecting device 6 along the X-axis guide rail 31, and when the X-axis switch 35 is operated to the first X-axis sensor 321 position, the stage 1 is considered as being already under the positioning and collecting device 6 in the X-axis direction, and the X-axis power unit 33 can be turned off; the Y-axis power part 43 is started so as to drive the object stage 1 to move to the first station along the Y-axis guide rail 41, namely, the position below the positioning and collecting device 6, and when the Y-axis switch 45 moves to the position of the first Y-axis sensor 421, the object stage 1 is considered to be already below the positioning and collecting device 6 in the Y-axis direction, and the Y-axis power part 43 can be closed; in short, when the Y-axis switch 45 is operated to the first Y-axis sensor 421 position and the X-axis switch 35 is operated to the first X-axis sensor 321 position, the stage 1 is considered to be under the positioning and collecting device 6, and the stage 1 can stop moving, and at this time, the positioning and collecting device 6 can perform preliminary image scanning on the slide 9 under to determine the initial position of the pathological section image.
In addition, the X-axis moving device 3 and the Y-axis moving device 4 may be moved simultaneously or may be moved separately and sequentially, and when the Y-axis switch 45 and the X-axis switch 35 are moved to the first Y-axis sensor 421 and the first X-axis sensor 321, respectively, the stage 1 may be stopped moving simultaneously in the X-axis and Y-axis directions. After the scanning is completed, the Y-axis power unit 43 and the X-axis power unit 33 can be started to enable the stage 1 to continue moving, and when the X-axis switch 35 moves to the second X-axis sensor 322 and the Y-axis switch 45 moves to the second Y-axis sensor 422, the stage 1 can be moved to the second station, i.e., below the scanning and collecting device 7, at this time, the scanning and collecting device 7 can scan the slide 9 with pathological section below, and the moving manner and principle are the same as those of the slide 9 moving to the positioning and collecting device 6, so that the description will not be repeated. While the third Y-axis sensor 423 and the third X-axis sensor 323 may be the extreme positions considered to be the stage 1, the stage 1 cannot move any further when the Y-axis switch 45 and the X-axis switch 35 are operated to the third Y-axis sensor 423 and the third X-axis sensor 323.
The positioning acquisition device 6 and the scanning acquisition device 7 are devices capable of shooting and acquiring images, wherein the positioning acquisition device 6 can only play a role of shooting and acquiring images without amplifying and thinning identification, the scanning acquisition device 7 can adopt a combination of a high-power microscope and a high-definition camera to finely shoot detailed images of pathological sections, and the scanning acquisition device 7 can also be realized by adopting a microscope mounting mode on a common high-definition camera. For data transmission, graphic splicing, contrast, etc., the prior art may be employed in the solution of this embodiment, and the improvement of the present invention focuses on the mechanical and driving structures in the device.
As shown in fig. 7, when the stage 1 is moved to the first station, the positioning device starts to operate, and a pathological section positioning device includes the stage 1, a positioning light source 21 and a positioning acquisition device 6; the positioning and collecting device 6 is located above the positioning light source 21, the objective table 1 is located between the positioning light source 21 and the positioning and collecting device 6, the objective table 1 is provided with a mounting part 11 for placing pathological sections, the mounting part 11 can drive the pathological sections to synchronously move, and the positioning and collecting device 6 can conduct image collection on the pathological sections so as to identify the initial position. The pathological section is placed on the slide 9, the area of the positioning light source 21 is larger than that of the slide 9, and preferably, the positioning light source 21 is an LED light plate. The positioning and collecting device 6 can identify and locate an initial position of the slide glass 9 with the pathological section, and when the image is acquired in a positioning manner, the image of the whole pathological section needs to be acquired, so that the area of the positioning light source 21 is set to be larger than the area of the slide glass 9, and the slide glass 9 can be integrally illuminated so as to acquire the pattern of the whole case section. In order to ensure the brightness of the positioning light source 21, the positioning light source 21 is disposed on the mounting table 23, and the mounting table 23 is fixed on the base 10, so that the positioning light source 21 can be closer to the stage 1, thereby improving the illumination intensity to the slide 9.
The object stage 1 comprises an installation part 11, wherein the installation part 11 is provided with an installation position 14 capable of placing the slide glass 9 and a limiting piece 13 capable of limiting the movement of the slide glass 9, preferably, the limiting pieces 13 are arranged on two sides of the installation position 14 in pairs, the bottom surface of the installation position 14 is a through groove 12 capable of being penetrated by a positioning light source 21, the invention further comprises a base 10 and a frame 15, the frame 15 is provided with an opening 16 capable of placing or taking out the slide glass 9, the opening 16 and the installation position 14 are arranged on the same horizontal plane, specifically, the opening 16 and the installation part 11 are arranged in parallel, the slide glass is conveniently placed into or taken out from the object stage, the height of the installation position 14 is matched with the slide glass 9, and the limiting piece 13 is arranged, so that the slide glass 9 can not be displaced in the moving process, and the slide glass 9 is firmly fixed on the installation position 14, and the accuracy of a detection result is ensured. The through groove 12 can ensure that the pathological section on the glass slide 9 can acquire enough light sources, and the area of the through groove 12 is definitely larger than that of the pathological section, so that the pathological section can acquire enough light sources. The scanning on this station of the device to be positioned is completed, an initial position of the pathological section can be obtained from the scanned image, and then the stage 1 with the slide 9 is moved to the second station, i.e. below the scanning device.
As shown in fig. 8-9, when the stage 1 is moved to the second station, the scanning device starts to work, and a pathological section scanning device comprises the stage 1, a scanning light source 22, a scanning acquisition device 7 and a Z-axis lifting device 5; the scanning acquisition device 7 is positioned above the scanning light source 22, the object stage 1 is provided with a mounting part 11 for placing pathological sections, the Z-axis lifting device 5 can control the scanning acquisition device 7 to ascend or descend in the vertical direction, so that the distance from a camera of the scanning acquisition device 7 to a case section can be controlled, and when the mounting part 11 is positioned right below the scanning acquisition device 7, the scanning acquisition device 7 can perform image acquisition scanning on the pathological sections; preferably, the area of the scanning light source 22 is smaller than the area of the glass slide 9, and the scanning light source 22 is an LED lamp; the scanning device needs to scan the case slice accurately, so the scanning light source 22 is set to irradiate the case slice in a punctiform manner, thereby achieving the purpose of accurate scanning. The scanning acquisition device 7 comprises a microscope and can scan the case slice in an enlarged manner.
The Z-axis lifting device 5 includes a Z-axis driving part 51 and a Z-axis mounting part 52, the Z-axis mounting part 52 being configured to mount the scanning acquisition device 7,Z such that the Z-axis mounting part 52 can move in the vertical direction; the Z-axis driving section 51 includes a third motor 511, a Z-axis guide rail 512, and a Z-axis slider 513; the Z-axis slider 513 is fixed to the Z-axis mounting portion 52 and movable along the Z-axis guide rail 512; the Z-axis installation part 52 is L-shaped and comprises a Z-axis moving part 521 and a Z-axis supporting part 522, wherein the Z-axis moving part 521 is fixed with the Z-axis sliding block 513, and the Z-axis supporting part 522 is used for fixing the scanning acquisition device 7; the Z-axis support 522 is provided with a U-shaped opening 523, and the scanning acquisition device 7 is arranged at the U-shaped opening 523; this enables the scanning acquisition device 7 to be mounted more firmly and also ensures that the scanning acquisition device 7 does not move during scanning. The Z-axis lifting device 5 can control the distance from the scanning acquisition device 7 to the slide glass 9 with the pathological section, and can further ensure the accurate and omnibearing scanning of the pathological section by the scanning acquisition device 7.
In addition, when the stage 1 moves to the second station, that is, directly under the scan collecting device 7, the scan collecting device 7 can perform regional scan on the pathological section in order to ensure the full aspect and accuracy of the scan. And the scanning acquisition device 7 can drive the pathological section to move along a straight line in the scanning process, and of course, the movement is very tiny, and the tiny adjustment movement can be performed through the first screw rod 332.
The partition scanning device for pathological sections further comprises a moving device on the basis of the scanning device; specifically, the scanning acquisition device 7 is located above the scanning light source 22, the objective table 1 is arranged between the scanning light source 22 and the scanning acquisition device 7, the objective table 1 is provided with a mounting part 11 for placing pathological sections, the mounting part 11 can drive the pathological sections to move horizontally and linearly under the control of the moving device, the Z-axis lifting device 5 can control the scanning acquisition device 7 to ascend or descend in the vertical direction, and the scanning acquisition device 7 can scan the pathological sections in an image partition mode. That is, when the scanning light source 22 is located right below the scanning acquisition device 7, and when the scanning light source 22 irradiates an area of a pathological section, the scanning acquisition device 7 can acquire and scan the pathological section on the area, and when the moving device drives the slide glass 9 with the pathological section to move for a certain distance, the scanning light source 22 irradiates another area of the pathological section, and of course, the moving is very tiny, and the scanning light source 22 also presents punctiform irradiation, so that the scanning acquisition device 7 can realize accurate image acquisition of the pathological section in a certain area, that is, the scanning acquisition device 7 only acquires the pathological section in a range area of punctiform irradiation of the scanning light source 22.
In addition, the specific distance of each scanning movement ensures that the same part of the picture shot at the moment and the previous picture is more than 1/4, and the same part of the same position part is more than 1/4 when the scanning area is replaced each time. Wherein the adjustment distance of each up-and-down movement is related to the distance of each grid of rotation of the motor of the moving device. After all scanning is completed, final imaging can be performed in an image stitching mode; the method comprises the steps of transmitting shot image information to an upper computer by a central processing unit, analyzing and processing image data by the upper computer, splicing images into a complete scanned image, analyzing the images by a neural network, manually marking pathological tissues of a detected object to form a model training set, scanning new pathological tissues to mark, marking the pathological parts with the marking result reaching a hundred percent, and judging the pathological parts possibly including tissues without pathological parts by doctors.
In summary, the present invention includes a moving device, a positioning device, a scanning device, a light source 2, and a stage 1 for placing pathological slices; of course, a central processing unit, an upper computer and the like are also configured for reading and scanning pathological section results; the upper computer is electrically connected with the central processing unit or transmits data through a wireless transmission protocol. The positioning device is used for confirming the position of the slide glass 9 with the histopathology on the object stage 1, confirming the position of the slide glass with the corresponding histopathology and providing control information of corresponding coordinate conversion; that is, the initial position of the image is determined, and the scanning device is connected with the central processing unit and performs scanning acquisition of tissue pathological information; the central processing unit processes the information acquired by the scanning device and the positioning device and transmits the information to the upper computer for image analysis processing; and the upper computer generates an image and analyzes data according to the information sent by the central processing unit.
The moving device forms the adjustment of each station in the whole instrument, ensures that the object stage 1 with pathological sections is accurately conveyed to the scanning device and the positioning device, and realizes the initialization and positioning of initial coordinates; meanwhile, the aim of regional scanning of the pathological section by the scanning device is also realized, and the pathological section can be more comprehensively presented in an image form; the positioning device forms coordinate conversion in the whole instrument to provide basis, replaces the entity position with a digital coordinate, and confirms the position of the pathological section; providing a data selection/reference basis for the scanning adjustment path of the final adjustment instrument.
The specific scan path operation is as follows: 1) The preparation steps are as follows: the pathological section is placed on the slide glass 9, the slide glass 9 is placed on the object stage 1, the scanning device and the positioning device are modulated to proper height, whether the equipment is normally operated or not is detected, and the subsequent operation is carried out after all the equipment is normally operated. 2) Image positioning: by means of the positioning device, a picture of the object table 1 is taken and this information is transmitted to the central processor, which, by means of instructions, adjusts the shooting range and selects the coordinate reference, confirms the origin and the x-axis and the y-axis of the established coordinates. The z-axis coordinate is established by the up-down adjustment structure in combination with the position of the microscope. Establishing a specific coordinate position of the pathological section by a positioning device, and dividing a scanning area; the scanning area is preferably rectangular or parallelogram in shape after positioning. 3) And (3) a focus searching step: and 3) adjusting the pathological section and the microscope position according to the scanning area obtained in the step 2). Specifically in the direction of the Z axis, the scanning acquisition device 7 primarily acquires a first photo obtained through a microscope, controls the third motor of the Z axis lifting device 5, drives the microscope to move upwards by one unit, shoots a second photo observed by the microscope through the scanning acquisition device 7 again, transmits the photo information to the central processing unit, and compares the definition of the two photos through the central processing unit. If the definition of the first photo is larger than that of the second photo, the third motor drives the microscope to move downwards by one unit; if the definition of the second photo is equal to that of the first photo, the third motor drives the microscope to move by one unit in the moving direction of one step before the microscope is operated continuously; if the second photo definition is larger than that of the first photo, the third motor drives the microscope to move upwards by one unit continuously; taking the second photo as a first photo, taking the photo after shifting as the second photo, continuing to compare until the two consecutive times of interval times with the same definition or the same definition in image comparison are one time, and judging that the best shooting focus is found; 4) Analyzing and confirming a scanning path: and (3) selecting a scanning path according to the scanning area and the focus positioning obtained in the steps 2) and 3). The path scan includes two paths, the first is a top-down scan as a whole, ensuring that the left-to-right scan shots have ended before each move down. The second is to scan from left to right as a whole, and it is necessary to ensure that the scanning from top to bottom has been completed before each scan to the right. In the direction of the z axis, the imaging device is used for capturing high-definition image information of the measured object. And acquiring images of the tested object at different heights of each position. The central processing unit sorts the different definition of the measured object at the same shooting position, and selects the most clear image information to carry out subsequent image stitching. The scanning camera is connected with the central processing unit and is used for collecting tissue pathology information images. Conventional scanning such as that of the Kagaku pine photonics Co., ltd., japan, such as patent No. TW108124608, is known to employ a full scan of the stage for acquisition. 4) Scanning and shooting: the distance of each scanning movement ensures that the same part of the picture shot at the moment and the previous picture is more than 1/4, and the same part of the position part is more than 1/4 when each line-feed or column-feed scanning is performed. 5) And (3) image stitching: the shot image information is transmitted to the upper computer by the central processing unit, the upper computer analyzes and processes the image data, and the images are spliced into a complete scan. The information is transmitted to the destination, and the image storage record can be carried out by using the blockchain technology (or technology with similar effect), so that the accuracy of the data is ensured. 6) And (3) an image analysis step: the image analysis is carried out through the neural network, the identification of pathological tissues of the detected object is carried out manually, a model training set is formed, then a new pathological tissue is scanned for identification, the identification result must reach the identification of the percent pathological part, the identification possibly contains the tissues without the pathological part, and the judgment is carried out by a doctor. When the identification is carried out manually, corresponding operation data are formed in each operation, the operation data and the image information after the operation processing are stored in a database or the data are stored through a block chain technology, so that the traceability and high accuracy of the data are ensured, and the positioning and tracking can be effectively carried out when errors and problems occur, particularly, the error occurs in the link. The scanning collection of this equipment can be accomplished in 5 minutes, has greatly promoted scanning speed and efficiency, compares traditional scanning scheme and adopts and carries out comprehensive scanning to whole objective table, and its time spent far exceeds this scheme.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Claims (4)
1. A pathological section scanner, characterized in that:
comprises a moving device, a positioning device, a scanning device, a light source (2) and an objective table (1) for placing pathological sections;
the light source (2) comprises a positioning light source (21) and a scanning light source (22), wherein the area of the positioning light source (21) is larger than that of the scanning light source (22);
the objective table comprises an installation part (11), wherein the installation part (11) is provided with an installation position (14) capable of placing a glass slide (9) and a limiting piece (13) capable of limiting the movement of the glass slide (9), and the bottom surface of the installation position (14) is provided with a through groove (12) capable of being penetrated by a light source (2);
the object stage (1) moves to the positioning device at first, the positioning device performs preliminary scanning positioning on a pathological section on a slide, the initial position of a pathological section image is determined by identifying a preset initial position mark on the slide, then the pathological section of the object stage moves to the scanning device, the scanning device can further scan the pathological section, meanwhile, the pathological section of the object stage can move under the drive of the driving part and scan in different areas, so that the aim of carrying out regional scanning on the slide by the scanning device is fulfilled, the whole image of the slide with infinite size can be completely read by utilizing a scanning lens with finite size through regional scanning, so that the whole section state is completely observed, and after the whole scanning of the pathological section is completed, the pathological section of the object stage can move the slide with the pathological section out of the equipment so as to conveniently retrieve the slide;
the moving device can drive the object stage (1) to move in the horizontal direction, the moving device comprises an X-axis moving device (3) and a Y-axis moving device (4), the moving tracks of the Y-axis moving device (4) and the X-axis moving device (3) are mutually perpendicular, and the Y-axis moving device (4) is connected with the X-axis moving device (3) through a connecting plate (49); the X-axis moving device (3) comprises an X-axis guide rail (31), an X-axis sensor (32), an X-axis power part (33), an X-axis moving part (34) and an X-axis switch (35) fixed on the X-axis moving part (34); the X-axis power part (33) can control the X-axis moving part (34) to move along the X-axis guide rail (31), and the X-axis sensor (32) and the X-axis switch (35) can control the X-axis moving part (34) to start or stop; the X-axis sensor (32) comprises a first X-axis sensor (321), a second X-axis sensor (322) and a third X-axis sensor (323); the three sensors are positioned on the same straight line and can be matched with an X-axis switch (35) for position detection; the Y-axis moving device (4) comprises a Y-axis guide rail (41), a Y-axis sensor (42), a Y-axis power part (43), a Y-axis moving part (44), a Y-axis mounting plate (46) and a Y-axis switch (45) fixed on the Y-axis moving part (44); the Y-axis power part (43) can control the Y-axis moving part (44) to move along the Y-axis guide rail (41), the Y-axis sensor (42) and the Y-axis switch (45) can control the Y-axis moving part (44) to start or stop, and the Y-axis sensor (42) is fixed on the connecting plate (49) through the Y-axis mounting plate (46); the Y-axis sensor (42) comprises a first Y-axis sensor (421), a second Y-axis sensor (422) and a third Y-axis sensor (423), wherein the third X-axis sensor (323) and the third Y-axis sensor (423) are positioned at the limit position' of the objective table (1);
the slide glass (9) is started by an X-axis power part (33) arranged on the object table (1), so that the object table (1) is driven to move along an X-axis guide rail (31), a Y-axis power part (43) is started, so that the object table (1) is driven to move along a Y-axis guide rail (41), when a Y-axis switch (45) moves to a first Y-axis sensor (421) position and an X-axis switch (35) moves to a first X-axis sensor (321) position, the object table (1) is considered to be under a positioning and collecting device (6), the object table (1) stops moving, at the moment, the object table (1) is moved to a first station, the object table (1) is positioned between a positioning light source (21) and the positioning and collecting device (6), the positioning and collecting device (6) can perform preliminary image scanning on the slide glass (9) positioned below to determine the initial position of a pathological section image;
the scanning device comprises a scanning acquisition device (7) and a Z-axis lifting device (5), wherein the scanning acquisition device (7) comprises a microscope and can conduct enlarged scanning on pathological sections; the Z-axis lifting device (5) comprises a Z-axis driving part (51) and a Z-axis installation part (52), the Z-axis installation part (52) is used for installing the scanning acquisition device (7), and the Z-axis driving part (51) can move in the vertical direction through the Z-axis installation part (52); the Y-axis power part (43) and the X-axis power part (33) can be started to enable the object stage (1) to move continuously, when the X-axis switch (35) moves to the second X-axis sensor (322), the Y-axis switch (45) moves to the second Y-axis sensor (422), the object stage (1) can be moved to the second station, at the moment, the scanning acquisition device (7) is positioned above the scanning light source (22), the Z-axis lifting device (5) can control the scanning acquisition device (7) to ascend or descend in the vertical direction, namely, the distance from a camera of the scanning acquisition device (7) to a pathological section can be controlled, and when the installation part (11) is positioned under the scanning acquisition device (7), the scanning acquisition device (7) can scan a slide glass (9) with the pathological section, and the scanning light source (22) is arranged to irradiate the pathological section in a punctiform manner, so that the aim of accurate scanning is achieved;
the scanning and collecting steps of the pathological section scanner are as follows:
1) The preparation steps are as follows: placing the pathological section on a glass slide (9), placing the glass slide (9) into an objective table (1), modulating proper heights by a scanning device and a positioning device, detecting whether equipment is normally operated, and performing subsequent operation after all the equipment is normally operated;
2) Image positioning: taking a picture of the object stage (1) through the positioning device, transmitting the picture to the central processing unit, regulating a shooting range and selecting a coordinate reference object through instructions by the central processing unit, confirming an origin point for establishing coordinates and an X axis and a Y axis, establishing a specific coordinate position of a pathological section through the positioning device, dividing a scanning area, and acquiring an image of the whole pathological section when positioning and acquiring the image;
3) And (3) a focus searching step: according to the scanning area obtained in the step 2), pathological sections and the positions of a microscope are adjusted, in the direction of a Z axis, a scanning acquisition device (7) primarily acquires a first picture obtained through the microscope, a third motor (511) of a Z axis lifting device (5) is controlled to drive the microscope to move upwards by one unit, a second picture observed by the microscope is shot again through the scanning acquisition device (7), picture information is transmitted to a central processing unit, and the central processing unit compares the definition of the two pictures; if the definition of the first photo is larger than that of the second photo, the third motor drives the microscope to move downwards by one unit; if the definition of the second photo is equal to that of the first photo, the third motor drives the microscope to move by one unit in the moving direction of one step before the microscope is operated continuously; if the second photo definition is larger than that of the first photo, the third motor drives the microscope to move upwards by one unit continuously; taking the second photo as a first photo, taking the photo after shifting as the second photo, continuing to compare until the two consecutive times of interval times with the same definition or the same definition in image comparison are one time, and judging that the best shooting focus is found;
4) Analyzing and confirming a scanning path: according to the scanning area and the focus positioning obtained in the steps 2) and 3), scanning path selection is carried out, wherein path scanning comprises two paths, the first path is scanning from top to bottom in the whole, the end of scanning shooting from left to right is ensured before each downward movement, the second path is scanning from left to right in the whole, and the end of scanning shooting from top to bottom is ensured before each rightward movement;
5) Scanning and shooting: the distance of each scanning movement ensures that the same part of the picture shot at the moment and the previous picture is more than 1/4, and the same part of the same position part is more than 1/4 when each line-feed or column-feed scanning is performed;
6) And (3) image stitching: the shot image information is transmitted to the upper computer by the central processing unit, the upper computer analyzes and processes the image data, and the images are spliced into a complete scan.
2. A pathological section scanner as claimed in claim 1, wherein: the X-axis moving device (3) is mounted on the base (10).
3. A pathological section scanner as claimed in claim 1, wherein: the device also comprises a frame (15), wherein an opening (16) capable of placing or taking out the slide glass (9) is arranged on the frame (15), and the opening (16) and the mounting position (14) are on the same horizontal plane.
4. A pathological section scanner as claimed in claim 1, wherein: the positioning light source (21) is an LED light plate; the scanning light source (22) is an LED lamp.
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| CN115476367A (en) * | 2021-11-26 | 2022-12-16 | 江苏迪赛特医疗科技有限公司 | A multifunctional mechanical arm for loading mobile slices |
| CN114488502A (en) * | 2021-12-28 | 2022-05-13 | 深圳市生强科技有限公司 | Scanning imaging method and device, slide scanner and storage medium |
| CN116500248B (en) * | 2023-06-27 | 2023-09-05 | 广州盛安医学检验有限公司 | Pathological section scanning device and method |
| CN116609332B (en) * | 2023-07-20 | 2023-10-13 | 佳木斯大学 | New panoramic scanning system for tissue and embryo pathological sections |
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