CN112823273A

CN112823273A - Wafer pushing machine and control method thereof

Info

Publication number: CN112823273A
Application number: CN201980066933.1A
Authority: CN
Inventors: 翁少葵; 贺捷山
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2021-05-18
Also published as: WO2020258155A1

Abstract

The slide pusher comprises a slide loading mechanism (10), a sample adding mechanism (20), a slide pushing mechanism (30), a staining mechanism (40) and a slide moving mechanism (50), wherein the slide loading mechanism is used for loading a slide and a blood sample, and the blood sample is smeared to prepare a smear. The dyeing mechanism (40) comprises a reagent box (41) and a first driving system (42), wherein the reagent box (41) is used for storing a dye solution reagent, and the first driving system (42) is used for driving the reagent box to rotate around a first axis. The sheet moving mechanism (50) comprises a manipulator (51) and a second driving system (52), and the second driving system (52) is used for driving the manipulator (51) to perform reciprocating translation along a second direction. After the reagent box and the manipulator move to the corresponding matching positions respectively, the second driving system also drives the manipulator to move towards the reagent box so as to place or extract the smear in the insertion area formed by the placing part of the reagent box. The smear is dyed by the matching movement of the mechanical arm and the kit, and the internal mechanism of the smear pushing machine is simplified.

Description

Wafer pushing machine and control method thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to a sheet pushing machine and a control method of the sheet pushing machine.

Background

The traditional manual staining method for blood smears is that a certain amount of staining solution is firstly dripped on the blood smears, then a certain amount of buffer solution is dripped on the blood smears, and then the staining solution and the buffer solution are mixed uniformly by using an ear washing ball or other blowing devices. After a period of waiting, the mixed liquid is flushed by running water and dried to form a blood smear for microscopic examination, wherein white blood cells, red blood cells, platelets and the like are stained with specific colors for identification.

For an automatic slide pusher adopting a soaking and dyeing mode, a manipulator is generally adopted to realize all degrees of freedom movement of spatial slide feeding operation. The manner in which all of the motions are accomplished by the robot arm alone tends to affect the efficiency of the operation. In order to improve the efficiency, two or more sets of mechanical arms are adopted for operation of part of machine types, so that the complexity and the manufacturing cost of the machine types are greatly improved. In addition, the layout in the wafer pusher needs to make up the movement space of each degree of freedom and the operation space of all degrees of freedom coupling for the manipulator, which occupies a large area and is not beneficial to the volume control of the wafer pusher. Furthermore, the multi-degree-of-freedom motion coupling of the manipulator has high requirement on the operation precision, and the process is difficult to realize.

Disclosure of Invention

The invention provides a sheet pushing machine with a movable manipulator and a movable reagent kit. The technical scheme is as follows:

in a first aspect, the present invention provides a sheet pushing machine, including:

a slide loading mechanism for loading slides;

a sample application mechanism for loading a blood sample onto the slide;

the sheet pushing mechanism is used for flattening the blood sample on the slide to prepare a smear;

the dyeing mechanism comprises a kit, a plurality of placing parts and a first driving system, wherein the placing parts are arranged in the kit and used for forming an insertion area for inserting the smear, a dye solution reagent is stored in the kit, the smear can be soaked in the dye solution reagent for corresponding treatment when being accommodated in the insertion area, the top of the kit is provided with an opening, and the first driving system is used for driving the kit to rotate around a first axis;

the smear moving mechanism comprises a manipulator and a second driving system, the manipulator is used for extracting the smear and placing the smear into the reagent box for dyeing, and the second driving system is used for driving the manipulator to perform reciprocating translation along a second direction;

after the first driving system and the second driving system respectively drive the reagent kit and the manipulator to move to corresponding matching positions, the second driving system is further used for driving the manipulator to move towards the reagent kit so as to place the smear into the reagent kit from the opening for dyeing or take out the smear from the reagent kit.

The staining mechanism is provided with a sheet receiving position and a storage position corresponding to the reagent kit, the sheet receiving position corresponds to the matching position of the reagent kit and the manipulator, and the first driving system drives the reagent kit to switch between the storage position and the sheet receiving position, so that the manipulator places the smear into the reagent kit located in the sheet receiving position or takes the smear out of the reagent kit located in the sheet receiving position.

The dyeing mechanism further comprises a base connected between the kit and the first driving system, the base is circular, and the first driving system drives the kit to rotate around the first axis so as to be switched between the storage position and the splicing position.

The dyeing mechanism further comprises a base connected between the kit and the first driving system, the base is fan-shaped, and the first driving system drives the kit to rotate around the first axis in a reciprocating mode so as to be switched between the storage position and the splicing position.

The first driving system drives the reagent kit to rotate in a first horizontal plane so as to switch between the storage position and the splicing position.

The number of the kits is multiple, the staining mechanism is provided with at least one placing position corresponding to each kit, and the mechanical arm places the smear into the corresponding kit on each placing position or takes the smear out of the kit.

Wherein, a plurality of the reagent boxes are arranged on the base in sequence along the circumferential direction of the base.

The staining mechanism is provided with a cover plate with a fixed position, the cover plate is arranged above the kit corresponding to a rotating path of the kit, the cover plate is used for covering the opening of the kit, the cover plate is provided with a notch corresponding to the film splicing position, and the notch is used for allowing the mechanical arm to pass through and putting the smear into the kit from the opening for staining or taking the smear out of the kit.

The second driving system comprises a first driving device, the first driving device drives the mechanical arm to switch positions between the sheet taking position and the placing position, the mechanical arm takes the smear at the sheet taking position, and the mechanical arm places the smear into the kit or takes the smear out of the kit at the placing position.

Wherein the second driving system further comprises a second driving device for driving the manipulator to move towards the reagent box at the placing position so as to place the smear into the reagent box or take the smear out of the reagent box.

The first driving device drives the mechanical arm to translate in a second horizontal plane so as to achieve position switching of the mechanical arm between the sheet taking position and the placing position, and the second driving device drives the mechanical arm to move in a reciprocating mode in the vertical direction so as to place the smear into the kit or take the smear out of the kit.

When the first driving device drives the manipulator to move to the placing position, the projection of the manipulator on the first horizontal plane is located within the rotating path of the reagent kit, and when the first driving device drives the manipulator to move to the sheet taking position, the projection of the manipulator on the first horizontal plane is located outside the rotating path of the reagent kit, so that the sheet pushing machine is at least located above the first horizontal plane, and two containing spaces are formed corresponding to the two side positions of the manipulator in the advancing direction.

The base is circular, the manipulator is located when the sheet taking position is located and is far away from the circle center of the base compared with the manipulator when the manipulator is located when the sheet taking position is located, so that the sheet pushing machine is located above the first horizontal plane, an accommodating space is formed on one side, facing the circle center of the base, of the manipulator corresponding to the sheet placing position, and the accommodating space is respectively communicated with two accommodating spaces corresponding to the two sides of the advancing direction of the manipulator.

Wherein a projection of the second direction on the first horizontal plane passes through a geometric center of the base.

The kit comprises a primary dyeing box and an isolation box, wherein a first dye solution is stored in the primary dyeing box and used for primary dyeing of the smear, the first dye solution is a mixture of a first biological dye and a second biological dye, the first biological dye can dye acidophilic substances in a blood sample, and the second biological dye can dye alkalophilic substances in the blood sample; the reagents stored in the isolation cassette were used to treat the blood samples after the initial staining and before the counterstaining.

The kit further comprises a counterstaining box, wherein a second staining solution is stored in the counterstaining box and used for counterstaining the smear, the second staining solution is a mixture of a third biological dye and a buffer solution, and the third biological dye can stain alkalophilic substances or alkalophilic substances in the blood sample.

The first driving system also drives the kit to rotate around the first axis in a reciprocating mode so as to uniformly mix the dye liquor reagent in the kit.

The dyeing mechanism further comprises a first dye liquor recovery system, a first dye liquor feeding system and a first dye liquor sealed container, wherein the first dye liquor recovery system is respectively communicated with the first dye liquor sealed container and the dyeing box and is used for recovering the corresponding first dye liquor in the dyeing box to the first dye liquor sealed container; and the first dye liquor inlet system is respectively communicated with the first dye liquor sealed container and the dyeing box and is used for discharging the first dye liquor in the first dye liquor sealed container into the dyeing box again.

When the smear is not needed to be dyed in the initial dyeing box or a first dye liquor recovery instruction sent by a user is received, the first dye liquor path control system recovers the corresponding first dye liquor in the initial dyeing box to the first dye liquor sealed container; when a smear is required to be dyed in the primary dyeing box or a first dye liquor feeding instruction sent by a user is received, the first dye liquor path control system discharges the first dye liquor in the first dye liquor sealed container into the primary dyeing box.

The dyeing mechanism further comprises a first dye liquor discharge system, the first dye liquor discharge system is communicated with the initial dyeing box or the first dye liquor sealed container, and when the first dye liquor meets the discharge requirement or after a first dye liquor discharge instruction sent by a user is received, the first dye liquor discharge system discharges the first dye liquor in the initial dyeing box or the first dye liquor sealed container.

Wherein the isolation box comprises a stain accelerating box stored with buffer solution, and the stain accelerating box is used for buffering and cleaning the smear after primary staining.

The isolation box further comprises a first cleaning box containing cleaning solution or buffer solution, and the first cleaning box is used for cleaning the smear after the initial staining and/or after the treatment of the stain promotion box.

The kit further comprises a second cleaning box containing cleaning solution or buffer solution, and the second cleaning box is used for cleaning the smears after the counterstaining.

The initial dyeing box, the dyeing promotion box, the first cleaning box, the secondary dyeing box and the second cleaning box are sequentially arranged on the base along the circumferential direction of the base in sequence.

In a first aspect, the sheet pushing machine provided by the invention completes the work of loading slides, loading blood samples, smearing blood samples and the like for preparing smears through a slide loading mechanism, a sample loading mechanism and a sheet pushing mechanism. Then, the smear is stained by the coordinated movement of the staining mechanism and the smear moving mechanism. Wherein the staining mechanism drives the kit rotation of dress dye liquor reagent through first actuating system around first axis, moves a mechanism and carries the manipulator reciprocating translation of smear through second actuating system along the drive of second direction, then after kit and manipulator moved respectively to the cooperation position that corresponds, second actuating system still drives the manipulator and moves towards the kit to place or draw the smear from the insertion region that the part formed of laying. This application push away mascerating machine decomposes the motion of manipulator and kit in the space on the three degree of freedom and accomplishes in coordination, has simplified the mechanism of manipulator and the complexity of movement track, has improved push away mascerating machine's work efficiency, has reduced occupation space, has still reduced push away mascerating machine's cost.

In a second aspect, the present invention provides a method for controlling a sheet pusher, including the following steps:

loading a blood sample onto a slide and smearing to make a smear;

driving a mechanical arm to extract the smear and driving the mechanical arm to translate to a placing position along a second direction;

the driving base rotates around a first axis to drive a first kit in the plurality of kits to rotate to the splicing position;

driving the manipulator to move towards the first reagent kit located at the taking position to place the smear into the first reagent kit for processing;

after the treatment in the first kit is completed, judging whether the first kit is at the splicing position:

if the first kit is located at the splicing position, driving the manipulator located at the placing position to move towards the first kit so as to take out the processed smear from the first kit and perform the next operation;

and if the first kit is not positioned at the splicing position, driving the base to rotate around a first axis so as to rotate the first kit back to the splicing position, and then driving the mechanical arm positioned at the placing position to move towards the first kit so as to take out the smears which are processed from the first kit and carry out the next operation.

Wherein the plurality of reagent cartridges are for storing a dye reagent, the drive base rotating about a first axis to rotate a first reagent cartridge of the plurality of reagent cartridges to a tabbed position, further comprising:

driving the base to rotate back and forth around the first axis to uniformly mix the dye liquor reagent in the reagent box;

and driving the base around the first axis to rotate the uniformly mixed first kit to the splicing position.

Wherein the plurality of reagent kits further include a second reagent kit, the first reagent kit and the second reagent kit are arranged along the circumferential direction of the base, the stain reagent in the first reagent kit is different from the stain reagent in the second reagent kit, and the smear is processed in the second reagent kit after being processed in the first reagent kit, the method further comprising:

driving the manipulator at the placing position to move towards the first reagent box to take out the smear which is finished with the first processing by the first reagent box;

driving the base to rotate a first angle about a first axis such that the first reagent cartridge leaves the splicing position and the second reagent cartridge is in the splicing position;

driving the manipulator to move towards the second reagent kit to place the smear into the second reagent kit for a second treatment.

Wherein the plurality of reagent kits further comprise a third reagent kit, the first reagent kit, the second reagent kit and the third reagent kit are sequentially arranged along the circumferential direction of the base, dye liquor reagents in the first reagent kit, the second reagent kit and the third reagent kit are different from each other, and the smear is sequentially processed in the first reagent kit, the second reagent kit and the third reagent kit, the method further comprises the following steps:

driving the manipulator at the placing position to move towards the second reagent box at the splicing position so as to take out a smear which is processed in the second reagent box from the second reagent box;

driving the base to rotate so that the second reagent cartridge leaves the splicing position and the third reagent cartridge rotates to the splicing position;

driving the robot arm to move toward the third reagent cartridge located at the taking position to place the smear into the third reagent cartridge;

driving the base to rotate the first reagent cartridge to the splicing position;

driving the robot at the placement position to move toward the first reagent cartridge to take out the smears that have completed processing from the first reagent cartridge for processing in the second reagent cartridge.

The multiple reagent boxes are used for storing a dye solution reagent, the dye solution reagent comprises a primary dye reagent loaded in the primary dye box, the dye solution reagent further comprises one or more of a dye promotion reagent, a cleaning reagent and a counterdye reagent, and the dye solution reagent corresponds to one or more of the dye promotion, cleaning and counterdye of the smear in the next operation.

The dye solution reagent in the first kit is a primary dye reagent, and the dye solution reagents in the second kit and the third kit are respectively one of a dye promotion reagent, a cleaning reagent or a re-dye reagent.

The dye solution reagent in the first kit is a dyeing promotion reagent, and the dye solution reagent in the second kit and the dye solution reagent in the third kit are respectively one of a cleaning reagent or a re-dyeing reagent.

The dye solution reagent in the first kit is a cleaning reagent, and the dye solution reagent in the second kit and the dye solution reagent in the third kit are respectively one of a re-dyeing reagent or a cleaning reagent.

The dye solution reagent in the first kit is a counterstain reagent, and the dye solution reagents in the second kit and the third kit are cleaning reagents.

In a second aspect, the control method of the smear pushing machine also drives the reagent kit and the mechanical arm separately after preparing the smear, so that the reagent kit and the mechanical arm are matched to realize the smear placing or taking action. The three-degree-of-freedom motion which is originally completed by the manipulator is decomposed into the three-degree-of-freedom motion which is completed by the cooperation of the kit and the manipulator, the control complexity of the manipulator is also simplified, and meanwhile, the effects of improving the working efficiency of the wafer pushing machine, reducing the occupied space and reducing the cost of the wafer pushing machine are achieved.

Drawings

FIG. 1 is a schematic diagram of a system frame of the wafer pusher of the present invention;

FIG. 2 is a schematic view of a dyeing mechanism and a slide moving mechanism in one embodiment of a slide pusher of the present invention;

FIG. 3 is a schematic view of a cartridge in one embodiment of a slide loader of the present invention;

FIG. 4 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 5 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 6 is a schematic view of a dyeing mechanism and a slide moving mechanism in another embodiment of a slide pusher of the present invention;

FIG. 7 is a schematic view of a dyeing mechanism and a slide moving mechanism in another embodiment of a slide pusher of the present invention;

FIG. 8 is a schematic view of a dyeing mechanism and a slide moving mechanism in another embodiment of a slide pusher of the present invention;

FIG. 9 is a schematic view of a sheet moving mechanism in another embodiment of the sheet pusher of the present invention;

FIG. 10 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 11 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 12 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 13 is a schematic view of a dyeing mechanism in another embodiment of the slide pusher of the present invention;

FIG. 14 is a flow chart of a method of controlling a blade pusher of the present invention;

FIG. 15 is a flowchart illustrating the sub-steps of step S30 in the method for controlling a blade pusher according to the present invention;

FIG. 16 is a flow chart of another embodiment of a method of controlling a blade pusher of the present invention;

FIG. 17 is a flow chart of another embodiment of a method of controlling a blade pusher according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Please refer to the sheet pushing machine 100 shown in fig. 1, which can be used for smear preparation of samples such as blood, body fluid, etc. The slide pusher 100 includes a slide loading mechanism 10, a loading mechanism 20, a slide pushing mechanism 30, a staining mechanism 40, and a slide moving mechanism 50. Wherein the slide loading mechanism 10 is used for extracting the slide and loading the slide to a corresponding position so as to carry out the loading operation. Before the slide is extracted, operations such as slide left-right detection and slide cleaning may be performed, and thereafter the slide is loaded by the slide loading mechanism 10. The slide loading mechanism 10 can also perform operations such as slide forward/reverse detection while printing information on the loaded slide. After the sample is dropped onto the slide by the sample adding needle of the sample adding mechanism 20, the slide pushing mechanism 30 performs the slide pushing operation, and the blood sample is pushed into a blood film shape on the slide by the slide pushing mechanism 30. Generally, after the slide pushing action is completed, the blood film on the slide can be dried to stabilize its form, so that the slide after sample loading can be prepared as a smear 200. In some embodiments, the slide may be driven to turn over before drying the blood membrane to meet the corresponding requirements. In some embodiments, the dried smear 200 may also be tested for dryness to determine the effectiveness of the dried blood film. In some embodiments, the dried smear 200 may also be subjected to a blood film spreading test to determine whether the blood film is spread and whether the spread state meets the requirements. Therefore, the slide pusher 100 finishes the operations of loading a slide, loading a blood sample, leveling the blood sample and the like through the slide loading mechanism 10, the sample loading mechanism 20 and the slide pusher mechanism 30, and prepares a smear 200 to be subjected to microscopic examination.

Of course, before performing the microscopic examination of the smear 200, the white blood cells, red blood cells, platelets, etc. in the blood sample are stained with specific colors for identification. Referring to FIG. 2, the pre-microscopic staining of smear 200 is accomplished by a staining mechanism 40 and a slide-moving mechanism 50. Wherein the staining mechanism 40 comprises a reagent kit 41 and a first drive system 42. The reagent kit 41 is used for storing a staining solution reagent, an opening 411 is formed in the top of the reagent kit 41, so that the smear 200 can be conveniently placed into the reagent kit 41 from the opening 411, and the smear 200 is placed into the reagent kit 41 and then is in full contact reaction with the staining solution reagent in the reagent kit 41, so that a staining effect is achieved. Referring to fig. 3, at least one mounting member 44 is contained within the cartridge 41. The mounting member 44 is used to form an insertion area (not shown) into which the smear 200 is inserted so that the smear 200 can be securely positioned when received in the insertion area, and is immersed in the staining reagent contained in the reagent cassette 41 to be subjected to a corresponding operation. The mounting member 44 may be detachably fixed in the reagent cartridge 41, or may be a slot integrally formed on the inner wall of the reagent cartridge 41, and the details of implementation of the mounting member 44 are not particularly limited in the present application.

The reagent box 41 is movably arranged in the sheet pushing machine 100, and the reagent box 41 can do single-degree-of-freedom rotation motion in the sheet pushing machine 100. The first driving system 42 is used for driving the reagent box 41 to rotate around the first axis 001, so as to complete the operation of placing and taking the film in cooperation with the action of the film moving mechanism 50. The sheet moving mechanism 50 includes a robot 51 and a second driving system 52, and the robot 51 is configured to take the smear 200 prepared by the slide and place the smear 200 into the reagent cassette 41 for staining. The moving direction of the manipulator 51 comprises a second direction 002, the second direction 002 is different from the first axis 001 of the reagent box 41, and the manipulator 51 performs reciprocating translation along the second direction 002 to complete the operation of placing and taking the piece by matching with the action of the dyeing mechanism 40. The reciprocating translational motion of the manipulator 51 in the second direction 002 is driven by the second drive system 52.

With continued reference to fig. 2, the sheet pusher 100 is provided with a fitting position 01 corresponding to both the reagent cartridge 41 and the manipulator 51. When the first driving system 42 drives the reagent kit 41 to rotate to the fitting position 01 around the first axis 001 and the second driving system 52 drives the manipulator 51 to translate to the fitting position 01 along the second direction 002, the reagent kit 41 and the manipulator 51 are in a corresponding position on the fitting position 01. I.e. the manipulator 51 is facing the opening 411 of the reagent vessel 41. Then, the second driving system 52 also drives the robot arm 51 to move toward the reagent cassette 41 to dispose the smear 200 carried on the robot arm 51 from the opening 411 into the reagent cassette 41 for the staining operation, or to take out the smear 200 in the reagent cassette 41, which has completed the staining operation, from the opening 411. It will be appreciated that the robot arm 51 places the smear 200 into an insertion area formed by at least one mounting part 44 in the reagent vessel 41 for a staining operation, or removes the smear 200 received in the insertion area from the reagent vessel 41.

According to the sheet pusher 100, the reagent kit 41 and the manipulator 51 are movably arranged in the sheet pusher 100, so that the reagent kit 41 and the manipulator 51 can move in a relative fit manner, the sheet moving mechanism 50 drives the smear 200 to move in three degrees of freedom in the sheet pusher 100, and the reagent kit 41 and the manipulator 51 are matched with each other to complete the operation. The first driving system 42 drives the reagent kit 41 to perform a single-degree-of-freedom rotation motion relatively simply, and the single-degree-of-freedom rotation motion can be realized by a slide rail or a central shaft arranged around the first axis 001. The second driving system 52 may drive the manipulator 51 to move in the second direction 002 in a translational manner by a slide rail or the like disposed in the second direction 002. Further, the second driving system 52 drives the robot 51 to move toward the reagent cassette 41 at the engagement position 01, and the movement is also a single degree of freedom, and can be similarly realized by a telescopic mechanism, a slide rail, or the like provided toward the opening 411. The first driving system 42 and the second driving system 52 are both single-degree-of-freedom motions for the rotational motion of the reagent kit 41 around the first axis 001 and for the translational motion of the manipulator 51 along the second direction 002, and can be controlled simultaneously and separately without affecting each other. After the manipulator 51 and the reagent box 41 are both moved to the matching position 01, the second driving system 52 drives the manipulator 51 to move towards the reagent box 41 with a single degree of freedom. The original multiple degrees of freedom are independently divided, the requirement on the precision of a single manipulator assembly is reduced, and therefore the manufacturing cost is reduced. This application pushes away mascerating machine 100 is at the overall process to smear 200 dyeing, and the motion of manipulator 51 and kit 41 on each degree of freedom all is the motion of single degree of freedom, and three single degree of freedom motion is the mode of separately controlling, accomplishes the motion and the control mode of operations such as smear aversion, dyeing processing for only the motion of three degrees of freedom through the manipulator among the prior art, and this application pushes away mascerating machine 100's internal mechanism more simplifies, the control of being convenient for. And because the rotation of the reagent kit 41 and the translation of the manipulator 51 are not affected, the reagent kit and the manipulator 51 can move relatively at the same time, so that compared with the case that the manipulator 51 moves alone, the displacement stroke is shortened, the multi-direction movement synthesis is avoided, under the condition that the speed of the manipulator 51 is kept constant, the working efficiency of the wafer pusher is improved, meanwhile, the internal space occupation of the wafer pusher 100 can be reduced, and the effect of reducing the cost of the wafer pusher 100 is achieved.

Referring to the embodiment of fig. 4, the staining mechanism 40 is provided with a tab position 401 and a storage position 402 corresponding to the reagent cartridge 41. It will be appreciated that the tab position 401 and the storage position 402 are at different angles of rotation in the direction about the first axis 001 to facilitate the first drive system 42 to move the reagent cartridge 41 between the tab position 401 and the storage position 402. Wherein the film receiving position 401 corresponds to the matching position 01 for the reagent kit 41 and the manipulator 51 to perform the operation of handing over the smear 200. When a smear 200 has been placed in the reagent vessel 41, or no smear 200 needs to be removed from the reagent vessel 41, the first drive system 42 can rotate the reagent vessel 41 to the storage position 402. When the staining mechanism 40 needs to place the smear 200 into the reagent box 41, or the smear 200 in the reagent box 41 needs to be stained, and the next operation is needed, the first driving system 42 drives the reagent box 41 to rotate around the first axis 001 to return to the position of the picking position 401, so as to cooperate with the manipulator 51 to place the smear 200 into the reagent box 41 at the picking position 401, or the manipulator 51 takes the smear 200 out of the reagent box 41 at the picking position 401.

Referring back to fig. 2, the dyeing mechanism 40 further includes a base 43 connected between the reagent cartridge 41 and the first driving system 42. The first driving system 42 drives the reagent cartridge 41 to rotate around the first axis 001 by driving the base 43 to rotate around the first axis 001. In the embodiment of fig. 2, the base 43 is circular, and the first driving system 42 can drive the reagent cartridge 41 to rotate around the first axis 001 along the first rotation direction all the time, so that the position of the reagent cartridge 41 between the storage position 402 and the tab position 401 can be switched. Referring to fig. 5, the base 43 may be configured as a sector, and the first driving system 42 drives the reagent cartridge 41 to rotate around the first axis 001 in a first rotation direction and then rotate in a direction opposite to the first rotation direction, so that the reagent cartridge 41 is switched between the storage position 402 and the tab position 401. The above embodiments all achieve the effect that the first driving system 42 drives the base 43 to rotate around the first axis 001 and drives the reagent kit 41 to switch the position between the storage position 402 and the splicing position 401.

In one embodiment, since the reagent kit 41 contains the dye solution reagent and the reagent kit 41 needs to rotate around the first axis 001 to realize the position switching between the splicing position 401 and the storage position 402, in order to avoid the dye solution reagent overflowing during the rotation of the reagent kit 41, the splicing position 401 and the storage position 402 are preferably arranged on the same horizontal plane, and the first axis 001 is also preferably arranged in the vertical direction, so that the reagent kit 41 can be always positioned on the first horizontal plane 004 without generating the displacement in the vertical direction when the position switching is carried out under the driving of the first driving system 42. The reagent box 41 rotates on the first horizontal plane 004 to be switched between the splicing position 401 and the storage position 402, so that the dye liquor reagent in the reagent box 41 can be stably loaded, and unnecessary waste of the dye liquor reagent caused by overflowing of the reagent box 41 is avoided.

Further, because of the arrangement of the base 43, the sheet pusher 100 can arrange a plurality of reagent cartridges 41 in the dyeing mechanism 40. Multiple reagent kits 41 may store different stain reagents to correspond to different staining processes performed by the staining mechanism 40 on the smear 200. Correspondingly, the staining mechanism 40 is provided with at least one splicing position 401 corresponding to each reagent box 41, and each reagent box 41 is used for placing the smear 200 in the corresponding splicing position 401 by the manipulator 51 or taking the smear 200 out of the reagent box 41.

In one embodiment, the plurality of reagent cartridges 41 are sequentially arranged around the first axis 001 at different rotation angles, that is, the plurality of reagent cartridges 41 are sequentially arranged along the circumferential direction of the base 43. It will be appreciated that the plurality of tab sites 401 corresponding to the plurality of reagent cartridges 41 are now also arranged about the first axis 001, or as described along the circumference of the base 43. When the manipulator 51 needs to operate corresponding to different reagent kits 41, the manipulator 51 can be kept stationary, the base 43 is driven by the first driving system 42 to rotate around the first axis 001, so that the corresponding different reagent kits 41 are sequentially driven to the corresponding splicing positions 401, corresponding matching positions 01 are formed with the manipulator 51, and then the manipulator 51 is driven by the second driving system 52 to sequentially move towards the different reagent kits 41, so that the operation of putting in or taking out the smears 200 is realized. The plurality of reagent cartridges 41 are arranged along the circumferential direction of the base 43, so that the manipulator 51 can be kept still, and the reagent cartridges 41 can be driven to rotate to form the matching states of the plurality of matching positions 01, so that a plurality of subsequent operation treatments can be carried out in order.

As mentioned in the foregoing, at least one placing component 44 is further disposed in the reagent box, such as the arrangement of a plurality of placing components 44 in FIG. 3, so that a plurality of insertion areas are formed in each reagent box 41, and a single reagent box 41 can accommodate a plurality of smears 200, thereby realizing batch processing of the smears 200 by the reagent boxes 41. The placement member 44 may be arranged in the cartridge 41 in a radial direction of the base 43 as shown in fig. 3. In the magazine 41 at the splicing station 401, each insertion area is also arranged in the radial direction of the base 43, and the robot 51 needs to translate in the radial direction of the base 43 to align the respective insertion area when placing the smear 200 into the respective insertion area. It will be appreciated that the second direction 002 may be disposed parallel to the radial direction of the base 43 at this time to facilitate the translation operation of the robot 51. Referring to fig. 6, a plurality of mounting members 44 are also arranged along the circumference of the base 43 in the cartridge 41. At this time, the staining mechanism 40 needs to further refine a plurality of sub-receiving positions (not shown) in the receiving position 401 correspondingly arranged on the reagent kit 41, the reagent kit 41 can form a matching position 01 with the manipulator 51 at each sub-receiving position, and the manipulator 51 can place the smear 200 into the insertion area corresponding to the sub-receiving position or take the smear 200 out of the insertion area corresponding to the sub-receiving position when moving towards the reagent kit 41.

It should be noted that the embodiment of fig. 6 is different from the embodiments of fig. 2, 4, 5, etc. in that when the smear 200 is arranged along the radial direction of the base 43, the holding angle of the robot arm 51 to the smear 200 needs to be correspondingly turned, and the smear 200 at the sub-contact position is preferably arranged along the radial direction of the base 43. At the same time, the second direction 002 needs to pass through the first axis 001 to enable the manipulator 51 to correspondingly place or retrieve the smear 200 at each sub-smear location. The embodiment of fig. 7 can also be used, in which the second direction 002 is arranged tangentially to the rotation trajectory of the base 43, so that the smear 200 held by the robot 51 is placed above the reagent vessel 41 in the radial direction of the base 43 when the robot moves to the matching position 01. The smear 200 is then placed into the reagent vessel 41 by movement of the robot arm 51 towards the reagent vessel 41. The above-mentioned matching manner of the manipulator 41 and the reagent box 41 can realize the effect of arranging a plurality of placing components 44 in the same reagent box 41 to form a plurality of insertion areas to accommodate a plurality of smears 200.

In one embodiment, it is mentioned in the foregoing that the reagent kit 41 is required to prepare a mixed reagent of the dye solution and the buffer solution according to a certain ratio according to different dye solution reagents contained therein, or to perform a liquid-continuing operation after the dye solution reagents are consumed and volatilized. If the reagent cartridge 41 is in a static state, the different components or the new and old different liquids in the reagent cartridge 41 are prone to have a problem of delamination. At this time, if the manipulator 51 is driven to extend into the opening 411 of the reagent kit 41 for mixing, on one hand, the manipulator 51 may contaminate the dye solution reagent, and on the other hand, the manipulator 51 after mixing may take away part of the dye solution reagent, resulting in unnecessary consumption of the dye solution reagent. Therefore, the first driving system 42 can be used to drive the reagent box 41 to rotate back and forth around the first axis 001 to mix the dye reagent in the reagent box 41, and then the first driving system 42 drives the reagent box 41 to rotate to the splicing position 401 to receive the smear 200. The first driving system 42 drives the reagent kit 41 to rotate in a reciprocating mode based on the uniform mixing requirement, so that the dye solution reagent layering phenomenon in the reagent kit 41 can be effectively eliminated, and the dye solution reagent after uniform mixing can also perform operations such as dyeing treatment on the smear 200 more effectively.

For the reagent kit scheme in a standing state, according to different loaded dye solution reagents, a mixed reagent of the dye solution and the buffer solution needs to be prepared according to a certain proportion, or the solution is continued after the dye solution reagent is consumed and volatilized. At the moment, the reagent box in a standing state is easy to have the problem of new and old liquid layering, and is inconvenient to mix uniformly. On the other hand, when the reagent kit is in a non-working state, a sealing cover is usually added at the upper opening position to prevent the dye solution reagent from volatilizing. However, the provision of the sealing cover may affect the operation of the robot. For this purpose, referring to fig. 8, when the reagent box 41 is in a non-operating state, the tablet pushing machine 100 usually has a sealing cover at the position of the upper opening 411 to prevent the dye reagent from volatilizing. However, in the case of a sheet pusher in which the reagent cartridge is left standing and the dyeing operation is performed only by the movement of the manipulator, the fixed arrangement of the sealing cover with respect to the reagent cartridge will interfere with the operation of the manipulator for storing and taking out the sheets. In the sheet pusher 100 of the present application, the reagent cartridge 41 can be brought back from the splicing position 401 to the storage position 402 by the first driving system 42 for storage, that is, the matching position of the manipulator 51 and the reagent cartridge 41 is relatively fixed, so that the dyeing mechanism 40 is convenient to arrange the sealing cover. In the embodiment of fig. 7, the staining mechanism 40 is provided with a fixed cover plate 45 at a position corresponding to the storage position 402 of the reagent vessel 41. The cover plate 45 is vertically higher than the opening 411 of the reagent vessel 41, so that when the first driving system 42 drives the reagent vessel 41 to the storage position 402, the cover plate 45 covers the opening 411 of the reagent vessel 41 to hermetically protect the dye reagent in the reagent vessel 41. It can be understood that, the cover plate 45 can prevent the volatilization of the dyeing liquid reagent on the one hand, and on the other hand can cover the opening 411, so as to prevent impurities from falling into the reagent kit 41 and polluting the dyeing liquid reagent when the dyeing mechanism 40 is in a non-working state. Further, the cover plate 45 is provided with a notch 451 corresponding to the receiving position 401, and the notch 451 is used for allowing the robot 51 to pass through and dispose the smear 200 from the opening 411 into the reagent box 41 for staining or take out the smear 200 from the reagent box 41.

It will be appreciated that blank locations may be provided on the base between adjacent reagent vessels 41, and that when no staining process is required, the notches 451 may be aligned with the blank locations on the base so that the reagent vessels 41 are all in a closed position. On the other hand, the height of the smear 200 in the reagent vessel 41 can be controlled by the setting of the mounting part 44 so that the gap between the cover plate 45 and the opening 411 of the reagent vessel 41 is reduced, achieving a better sealing effect. Even if the smear 200 is completely contained in the reagent vessel 41, the cover plate 45 is directly matched with the reagent vessel 41 to achieve a better sealing effect. Of course, as shown in fig. 8, a cover edge 452 extending downward may be provided on the edge of the cover plate 45, and the cover edge 452 is engaged with the sidewall 412 of the reagent container 41, so as to achieve a better sealing effect.

Referring to fig. 9, in the moving path of the robot 51, the sheet moving mechanism 50 is provided with a sheet taking position 502 and a sheet placing position 501 corresponding to the robot 51. It is understood that the pick station 502 and the place station 501 are aligned with each other in the second direction 002, so that the second driving system 52 drives the robot 51 to switch the position between the pick station 502 and the place station 51. Wherein the placing position 501 corresponds to the matching position 01 for the reagent kit 41 to perform smear 200 operation and hand over with the manipulator 51. The second driving system 52 includes a first driving device (not shown), and the second driving system 52 drives the manipulator 51 to switch positions between the film taking position 502 and the placing position 501 by the first driving device. The mechanical arm 51 extracts the smear 200 needing to be dyed at the smear taking position 502; the robot 51 cooperates with the reagent vessel 41 at the placing position 501 to facilitate placing the smear 200 into the reagent vessel 41 or removing the smear 200 from the reagent vessel 41.

In one embodiment, the second drive system 52 further includes a second drive device (not shown). The second driving device is used for driving the manipulator 51 to move towards the reagent box 41 when the manipulator 51 is at the placing position 501, so as to place the smear 200 into the reagent box 41 or take the smear 200 out of the reagent box 41. The second driving system 52 drives the robot 51 to translate between the placing position 501 and the taking position 502 and drives the moving action of the robot 51 towards the reagent kit 41 through the first driving device and the second driving device, respectively, so that the motion of the robot 51 is also divided into a one-way reciprocating motion action with two degrees of freedom. Compared with the scheme that the reagent kit is still, the motion track of the manipulator 51 of the chip pusher 100 is simplified, the defect that the coupling control precision requirement of the manipulator 51 is high due to coupling motion is further reduced through decomposition of the degree of freedom, the requirement on the precision of a single component is reduced, and therefore the manufacturing cost of the chip pusher 100 is reduced.

In one embodiment, in cooperation with the horizontal rotation of the dyeing mechanism 40 in the first horizontal plane 004, the first driving device is also adapted to drive the robot 51 to horizontally translate in the second horizontal plane 005, so as to switch the position of the robot 51 between the sheet taking position 502 and the placing position 501. The robot 51 is also provided to move horizontally, and a larger movable range can be provided to the robot 51 at the same translational distance of the robot 51. Or, it is described that when the manipulator 51 moves within a fixed range, the manipulator 51 can control the moving stroke thereof to be minimum by adopting a horizontal translation mode. It can be understood that the smaller the moving stroke of the robot 51, the lower the load of the first driving device, and the work efficiency of the wafer pusher 100 can be improved and the power consumption can be reduced. On the other hand, the second driving device drives the manipulator 51 toward the moving direction of the reagent cartridge 41, and may be set to a vertical direction. That is, the second driving means drives the robot arm 51 at the placing position 501 to perform reciprocating translation in the vertical direction to place the smear 200 into the reagent box 41 or take out the smear 200 from the reagent box 41. Opening 411 of kit 41 is in the upper portion of kit 41, move in order to put into or take out smear 200 along vertical direction towards kit 41, also can shorten second drive arrangement's movement distance, accelerate second drive arrangement's processing speed, smear 200 is mostly rectangular strip simultaneously, smear 200 is followed vertical direction business turn over kit 41 and is also more laminated the appearance shape of smear 200, the damage that causes smear 200 after the alignment error appears in cooperation position 01 place is avoided manipulator 51 and kit 41 to a great extent.

Referring to the illustration of fig. 10, in the internal space of the sheet pusher 100, because the reagent box 41 can cooperate with the manipulator 51 to make a rotational movement under the driving of the first driving system 42, and the manipulator 51 only needs to make a single-degree-of-freedom translation in the second direction 002 and a movement toward the reagent box 41 at the sheet receiving position 401 with respect to the reagent box 41, the manipulator 51 does not need to cover the entire upper space of the cover plate 45, so that the placing and taking operations of the smear 200 can be realized. Further, when the first driving device drives the manipulator 51 to move to the placing position 501, a projection of the manipulator 51 on the first horizontal plane 004 is located within a rotation path of the reagent kit 41, that is, on the base 43; when the first driving device drives the manipulator 51 to move to the sheet taking position 502, the projection of the manipulator 51 on the first horizontal plane 004 is located outside the rotation path of the reagent kit 41, i.e. outside the base 43. Accordingly, the sheet pusher 100 forms two receiving spaces 006 above the first horizontal plane 004 at positions corresponding to both sides of the traveling direction of the robot 51. This accommodation space 006 need not reserve the space for the motion of manipulator 51, and makes accommodation space 006 can be used to deposit the remaining subassembly of pushing away mascerating machine 100, from this for pushing away some space volumes are practiced thrift to the inside of mascerating machine 100, makes the internal mechanism of pushing away mascerating machine 100 arrange compacter, is favorable to the complete machine volume control of mascerating machine 100.

In the embodiment of fig. 10, the base 43 is circular. The robot 51 at the pick station 502 is farther from the center of the base 43 than the robot 51 at the placing station 501. So that the wafer pusher 100 is above the first horizontal plane 004, an accommodating space 006 is also formed on the other side of the center of the circle of the manipulator 51 facing the base 43 corresponding to the placing position 501, and the accommodating space 006 is respectively communicated with the two accommodating spaces 006 corresponding to the two sides of the moving direction of the manipulator 51. Further, the projection of the second direction 002 on the first horizontal plane 004 may be set to pass through the center of the base 43. Therefore, two accommodating spaces 006 formed corresponding to the positions of the two sides of the moving direction of the manipulator 51 are communicated through the accommodating space 006 on the other side of the circle center, a whole large accommodating space 006 is formed inside the wafer pusher 100, and the accommodating space 006 is not in the motion track of the manipulator 51, so that no space is required to be reserved for the motion of the manipulator 51, and the whole accommodating space 006 can be used for storing the rest components of the wafer pusher 100, such as one or more of an air pump, an air cylinder, a liquid path system and a control circuit board. The inside of the wafer pusher 100 saves larger space volume, which is further beneficial to the arrangement of the internal mechanism of the wafer pusher 100 to control the whole volume of the wafer pusher 100.

Referring to fig. 11, the smear 200 is usually subjected to a plurality of staining processes in the staining mechanism 40, and the smear 200 is subjected to a plurality of staining processes, such as promotion and cleaning, between the plurality of staining processes, so as to ensure a better observation effect of the stained smear 200 during the microscopic examination. Thus, the plurality of reagent cartridges 41 generally includes an initial staining cassette 410 and a spacer cassette 420, and in some embodiments, may also include a counterstaining cassette 430. The initial staining cassette 410 stores a first staining solution (alternatively referred to as an initial staining reagent) for initial staining of the smear 200. The first staining solution is a mixture of a first biological dye and a second biological dye, wherein the first biological dye can stain acidophilic substances in the blood sample, and the second biological dye can stain alkalophilic substances in the blood sample. The isolation box 420 stores reagents for facilitating staining and/or washing of the blood sample after the initial staining and before the counterstaining. The counterstain box 430 stores a second stain (or called counterstain reagent) for counterstaining the smear 200, the second stain is a mixture of a third biological dye and a buffer solution, and the third biological dye can stain acidophilic substances or alkalophilic substances in the blood sample.

Further, to meet the most common usage habits of clinical departments, in one embodiment, the first dye liquor is a Reid-Giemsa dye liquor comprising an eosin dye and a methylene blue dye. The second dye liquor is a mixture of Giemsa dye liquor and buffer liquor, and the Giemsa dye liquor contains methylene blue dye as a third biological dye.

The second dye liquor can be replaced by a mixture of other dye liquors with methylene blue dye and buffer solutions, such as Liu's B dye liquor.

In an automatic dyeing and piece-pushing machine, a vertical dip dyeing mode is generally adopted, the dyeing process basically simulates manual operation (such as SC-120 of Mirui, SP-10 of sysmex and the like), dyeing is realized in a small container, dye solution reagents (including a first dye solution, a second dye solution, a buffer solution, a cleaning solution and the like) in the container are discharged after being used once, and a large waste condition exists. Another type uses a dip-staining format (e.g., SP-50 by sysmex, RAL Stainer by RAL, etc.) to save costs and allows for recycling of reagents by cyclically dipping slides in large kits that can hold multiple slides. Referring to fig. 12, the dyeing mechanism 40 further includes a first dye liquor recovery system 4101, a first dye liquor feed system 4102 and a first sealed dye liquor container 4103. The first dye liquor recovery system 4101 is respectively communicated with the first dye liquor sealed container 4103 and the primary dyeing box 410, and the first dye liquor recovery system 4101 is used for recovering the corresponding first dye liquor in the primary dyeing box 410 into the first dye liquor sealed container 4103. The first dye liquor inlet system 4102 is respectively communicated with the first sealed dye liquor container 4103 and the primary dyeing box 410, and the first dye liquor inlet system 4102 is used for discharging the first dye liquor in the first sealed dye liquor container 4103 into the primary dyeing box 410 again. When the dyeing mechanism 40 is in a non-operating state, the first dye solution can be stored in the first sealed dye solution container 4103. When the dyeing mechanism 40 enters a working state, when the smear 200 needs to be primarily dyed by using the first dye solution, the first dye solution is sent into the primary dyeing box 410 from the first dye solution sealed container 4103 through the first dye solution inlet system 4102, and the first dye solution in the primary dyeing box 410 is collected into the first dye solution sealed container 4103 through the first dye solution recovery system 4101 after the primary dyeing is finished, so that the first dye solution can be stored more reliably, the phenomenon that the first dye solution is polluted by impurities or is volatilized and lost is avoided to a greater extent, and the first dye solution can be recycled.

It will be appreciated that the first dye liquor recovery system 4101 may also comprise a first dye liquor recovery circuit 4104 and a first dye liquor suction pressure source 4105. The first dye liquor recovery system 4101 is respectively communicated with the primary dyeing box 410 and a first dye liquor sealed container 4103 through a first dye liquor recovery pipeline 4104, and a first dye liquor suction pressure source 4105 is used for sucking the first dye liquor in the primary dyeing box 410 into the first dye liquor sealed container 4103; the first dye liquor feed system 4102 can further comprise a first dye liquor feed line 4106 and a first source of dye liquor feed pressure 4107. The first dye liquor inlet system 4102 is respectively communicated with the primary dyeing box 410 and the first sealed dye liquor container 4103 through a first dye liquor inlet pipeline 4106, and the first dye liquor inlet pressure source 4107 discharges the first dye liquor in the first sealed dye liquor container 4103 into the primary dyeing box 410. In one embodiment, the first dye liquor recovery circuit 4104 and the first dye liquor feed circuit 4106 can be the same circuit, and the first dye liquor feed pressure source 4105 and the first dye liquor suction pressure source 4107 can be the same pressure source.

In one embodiment, when there is no smear 200 in the initial dyeing box 410 to be dyed, or the film pushing machine 100 receives a first dye liquor recovery instruction sent by a user, the first dye liquor recovery system 4101 recovers the corresponding first dye liquor in the initial dyeing box 410 into the first dye liquor sealed container 4103 for storage. When a smear 200 is needed to be dyed in the primary dyeing box 410 or the sheet pushing machine 100 receives a first dye liquor feeding instruction sent by a user, the first dye liquor feeding system 4102 discharges the first dye liquor in the first dye liquor sealed container 4103 into the primary dyeing box 410.

It should be noted that the blade pusher 100 may also automatically perform the first dye liquor recovery operation. The smear pushing machine 100 can automatically control the recovery of the first dye solution by judging whether the smear 200 needs to be dyed, and the specific judgment mode comprises the following steps: when no smear 200 is present in the initial staining cassette 410 and no smear 200 to be stained is fed in, and/or when the idle time of the initial staining cassette 410 exceeds a preset value.

In one embodiment, dyeing means 40 further comprises a first dye liquor discharge system 4108. The first dye liquor discharging system 4018 is communicated with the initial dyeing box 410 or the first dye liquor sealed container 4103, and when the piece pushing machine 100 senses that the first dye liquor meets the discharging requirement or receives a first dye liquor discharging instruction sent by a user, the first dye liquor discharging system 4108 is used for discharging the first dye liquor in the initial dyeing box 410 or the first dye liquor sealed container 4103.

Referring to the embodiment of fig. 13, dyeing mechanism 40 may also include a fluid path system for a counterdyeing box 430 similar in configuration to the initial dyeing box 410. Specifically, the dyeing mechanism 40 further includes a second dye liquor recovery system 4301, a second dye liquor feeding system 4302, and a second dye liquor sealed container 4303. The second dye liquor recovery system 4301 is respectively communicated with the second dye liquor sealed container 4303 and the re-dyeing box 430, and the second dye liquor recovery system 4301 is used for recovering the corresponding second dye liquor in the re-dyeing box 430 into the second dye liquor sealed container 4303. The second dye liquor inlet system 4302 is respectively communicated with the second dye liquor sealed container 4303 and the re-dyeing box 430, and the second dye liquor inlet system 4302 is used for discharging the second dye liquor in the second dye liquor sealed container 4303 into the re-dyeing box 430 again. When the dyeing mechanism 40 is in a non-working state, the second dye liquor sealed container 4303 can be used for containing and storing the second dye liquor. When the dyeing mechanism 40 enters a working state, when a second dye liquor is needed to be used for re-dyeing the smear 200, the second dye liquor is sent into the re-dyeing box 430 from the second dye liquor sealed container 4303 through the second dye liquor inlet system 4302, and the second dye liquor in the re-dyeing box 430 is recovered into the second dye liquor sealed container 4303 through the second dye liquor recovery system 4301 after the re-dyeing is finished, so that the second dye liquor can be stored more reliably, the phenomenon that the second dye liquor is polluted by impurities or is volatilized and lost is avoided to a greater extent, and the second dye liquor can be recycled.

It will be appreciated that the second dye liquor recovery system 4301 may also comprise a second dye liquor recovery conduit 4304 and a second source of dye liquor suction pressure 4305. The second dye liquor recovery system 4301 is respectively communicated with the re-dyeing box 430 and a second dye liquor sealed container 4303 through a second dye liquor recovery pipeline 4304, and the second dye liquor pumping pressure source 4305 is used for pumping the second dye liquor in the re-dyeing box 430 into the second dye liquor sealed container 4303; the second dye liquor feed system 4302 may further comprise a second dye liquor feed line 4306 and a second source of dye liquor feed pressure 4307. The second dye liquor inlet system 4302 is respectively communicated with the re-dyeing box 430 and the second dye liquor sealed container 4303 through a second dye liquor inlet pipeline 4306, and the second dye liquor in the second dye liquor sealed container 4303 is discharged into the re-dyeing box 430 by a second dye liquor inlet pressure source 4307. In one embodiment, the second dye liquor recovery conduit 4304 and the second dye liquor feed conduit 4306 may be the same conduit, and the second dye liquor feed pressure source 4305 and the second dye liquor suction pressure source 4307 may be the same pressure source.

In an embodiment, when no smear 200 needs to be dyed in the re-dyeing box 430, or the slide pusher 100 receives a second dye liquor recovery instruction sent by a user, the second dye liquor recovery system 4301 recovers the corresponding second dye liquor in the re-dyeing box 430 into the second dye liquor sealed container 4303 for storage. When a smear 200 is needed to be dyed in the re-dyeing box 430 or the piece pushing machine 100 receives a second dye liquor feeding instruction sent by a user, the second dye liquor feeding system 4302 discharges the second dye liquor in the second dye liquor sealed container 4303 into the re-dyeing box 430.

It should be noted that the pusher 100 may also automatically perform the second dye liquor recovery operation. The smear pushing machine 100 can automatically control the recovery of the second dye solution by judging whether the smear 200 needs to be dyed, and the specific judgment mode comprises: when no smear 200 is present in the counterstain cassette 430 and no smear 200 to be stained is fed in, and/or when the idle time of the counterstain cassette 430 exceeds a preset value.

In one embodiment, the dyeing mechanism 40 further comprises a second dye liquor discharge system 4308. The second dye liquor discharge system 4018 is communicated with the re-dyeing box 430 or the second dye liquor sealed container 4303, and when the piece pushing machine 100 senses that the second dye liquor meets the discharge requirement or receives a second dye liquor discharge instruction sent by a user, the second dye liquor discharge system 4308 is used for discharging the second dye liquor in the re-dyeing box 430 or the second dye liquor sealed container 4303.

Referring back to FIG. 11, one embodiment, the isolation cassette 420 includes a transfection facilitating cassette 422 containing a buffer. The stain-accelerating cassette 423 is used to buffer and wash the smear 200 after initial staining.

In one embodiment, the isolation box 420 further comprises a first washing box 421 containing a washing solution or buffer solution, wherein the first washing box 421 is used for washing the smear 200 after the initial staining and/or the buffering and washing treatment of the stain promotion box 422.

In one embodiment, the kit 41 further comprises a second washing cassette 440 containing a washing solution or buffer. The second wash cassette 440 is used to wash the counterstained smear 200.

In order to improve the convenience of the operation and the dyeing efficiency, in the embodiment of fig. 11, the primary dyeing box 410, the dyeing promotion box 422, the first cleaning box 421, the secondary dyeing box 430 and the second cleaning box 440 are sequentially arranged on the base 43 around the first axis 001, that is, each reagent kit 41 is sequentially arranged on the base 43 along the circumferential direction of the base 43. The robot 51 can move and operate corresponding to the reagent boxes 41 in sequence, and the staining process of each step of the smear 200 is completed in sequence. The arrangement can enable the structure of the sheet pushing machine 100 to be more compact, and can enable the rotation angle of the reagent box 41 to be driven to be minimum when the rotation process of the sheet receiving position 401 enters the next operation, so that the dyeing efficiency is improved. It is understood that the primary dyeing box 410, the dyeing promotion box 422, the first cleaning box 421, the secondary dyeing box 430 and the second cleaning box 440 can be integrally formed or separately arranged.

It should be noted that the sheet pusher 100 of the present application only defines the sequential arrangement of the primary dyeing box 410, the accelerating dyeing box 422, the first cleaning box 421, the secondary dyeing box 430 and the second cleaning box 440, and does not define the specific number of the various reagent boxes 41. Taking the first cleaning box 421 as an example, a plurality of first cleaning boxes 421 can be continuously arranged on the base 43, the cleaning solutions or buffers in the plurality of first cleaning boxes 421 can be different, or the matching proportions are different, and the manipulator 51 sequentially puts the smear 200 into the different first cleaning boxes 421 for cleaning, so as to achieve a better cleaning effect. Of course, the number of the first cleaning boxes 421 in the blade pushing machine 100 can be set to be zero, and the smearing tool 200 is cleaned by the dyeing promotion box 422, so that the buffering effect can be achieved. The smear 200 is washed once or more with a buffer or a washing solution, depending on the washing effect and the requirement. For example, the base 43 may be provided with only the initial staining cassette 410, the accelerating staining cassette 422 and the first washing cassette 421, which are arranged in sequence, so that the smear 200 is stained only once, and the smear 200 stained once may be passed to the microscopy step as a complete staining process. The above embodiments are all within the protection scope of the wafer pushing machine 100 of the present application.

Referring to fig. 14, the present invention further provides a method for controlling a sheet pusher, which specifically includes the following steps:

s10, loading the blood sample on a slide and leveling the blood sample to form a smear 200;

s20, driving the manipulator to take the smear 200, and driving the manipulator to translate to the placing position 501 along a second direction 002;

s30, driving the base 43 to rotate around the first axis 001 to drive the first reagent kit 4001 in the plurality of reagent kits 41 to rotate to the splicing position 401;

s40, driving the manipulator 51 to move towards the first reagent kit 4001 located at the splicing site 401 to place the smear 200 into the first reagent kit 4001 for processing;

s50, and after the processing in the first reagent cartridge 4001 is completed, it is determined whether the first reagent cartridge 4001 is in the splicing position 401:

if the first reagent box 4001 is at the splicing position 401, driving the manipulator 51 at the placing position 501 to move towards the first reagent box 4001 so as to take out the smear 200 which is processed from the first reagent box 4001 and perform the next operation;

if the first reagent cartridge 4001 is not in the picking position 401, the base 43 is driven to rotate around the first axis 001 to rotate the first reagent cartridge 4001 back to the picking position 401, and then the robot arm 51 at the placing position 501 is driven to move toward the first reagent cartridge 4001 to take out the smear 200 which has finished processing from the first reagent cartridge 4001 and perform the next operation.

Corresponding to the above-mentioned smear pushing machine 100, the control method of the smear pushing machine also comprises a preparation step of the smear 200, and then the manipulator 51 is driven to extract the smear 200 to be stained. It can be understood that when the smear 200 needs to be primarily dyed, the first reagent box 4001 is the primary dyeing box 410, the manipulator 51 needs to take the smear 200 at the taking position 502, and then the manipulator 51 is driven to translate along the second direction 002 to the placing position 501 to be matched with the primary dyeing box 410 to be placed into the smear 200. While the smear 200 is already in the process of staining, the first reagent kit 4001 may also be another reagent kit 41 that is processing the smear 200 during staining, and the robot 51 does not need to take the smear 200 from the slide-taking station 502. In this method, the plurality of reagent cartridges 41 need to be connected to the base 43 and then rotated with the base 43 about the first axis 001, so that the base 43 brings the first reagent cartridge 4001 of the plurality of reagent cartridges 41 to the splicing site 401 engaged with the robot 51. It will be appreciated that the robot 51 at the placement station 501 and the first reagent cartridge 4001 at the splicing station 401 are both in the cooperating position 01 where they cooperate with each other. The robot 51 is then driven to move towards the first reagent kit 4001 to place the smear 200 into the first reagent kit 4001 for processing of the smear 200. Also because there are multiple reagent kits 41, the remaining reagent kits 41 may also need to cooperate with the robot 51 to effect the taking of the smear during processing of the smear 200 in the first reagent kit 4001. Therefore, after the smear 200 in the first reagent kit 4001 is processed, the position of the first reagent kit 4001 needs to be confirmed before proceeding to the next operation. That is, the manipulator 51 may be directly driven to move toward the first reagent cartridge 4001 to take out the smear 200 while the first reagent cartridge 4001 is in its corresponding splicing position 401; when the first reagent kit 4001 is not located at the corresponding splicing position 401, the base 43 needs to be driven to rotate, the first reagent kit 4001 is rotated to the corresponding splicing position 401, and then the smear 200 is taken out.

The control method of the sheet pusher 100 is the same as the device embodiment, and the smearing operation of the smear 200 is realized by the matching movement of the reagent kit 41 and the manipulator 51. In the process of matching and aligning the reagent kit 41 and the manipulator 51, only the reagent kit 41 needs to be driven to rotate around the first axis 001 and the manipulator 51 needs to be driven to translate along the second direction 002, so that the control logic is relatively simple and easy to implement. And the single-degree-of-freedom rotation or translation motion is beneficial to precision control. On the other hand, the insertion of the smear 200 is completed by moving the robot 51 toward the single degree of freedom of the reagent cassette 41 after the reagent cassette 41 and the robot 51 are aligned, which is a relatively simple single degree of freedom control method. Therefore, the control method also adopts a scheme of decomposing the three-degree-of-freedom motion originally completed by the manipulator alone into the reagent kit 41 and the manipulator 51 which are completed in cooperation. The control method of the sheet pusher simplifies the control complexity of the manipulator and avoids the defects of complex control logic and difficult control precision caused by multi-degree-of-freedom kinematic coupling. The sheet pusher 100 adopting the sheet pusher control method improves the working efficiency, reduces the occupation of the internal space and simultaneously achieves the effect of reducing the cost.

Referring to fig. 15, fig. 15 is a flowchart illustrating a sub-step of S30 in step S14. In this embodiment, the reagent kit 41 is used for storing a stain reagent, wherein the stain reagent for treating the smear 200 is stored in the first reagent kit 4001. For step S30 "driving the base to rotate around the first axis to rotate the first reagent cartridge of the plurality of reagent cartridges to the splicing position", the method may further include:

s31, driving the base 43 to rotate back and forth around the first axis 001 to uniformly mix the dye solution reagent in the reagent kit 41;

s32, the base 43 is driven around the first axis 001 to rotate the first reagent kit 4001 after mixing to the splicing position 401.

In the embodiment of the apparatus described above, the mixed reagent of the dye solution and the buffer solution is prepared according to a certain ratio according to different dye solution reagents contained in the reagent kit 41, or the solution is continued after the dye solution reagent is consumed and volatilized. If the reagent cartridge 41 is in a static state, the different components or the new and old different liquids in the reagent cartridge 41 are prone to have a problem of delamination. Therefore, the method can adopt the first driving system 42 to drive the reagent box 41 to reciprocate around the first axis 001 to uniformly mix the dye liquor reagent in the reagent box 41, and the mixing operation of the primary dye reagent for primary dyeing in the first reagent box 4001 is included. The operation of mixing the dye solution reagent in the first reagent kit 4001 by the base 43 is also performed by the same operation of mixing the dye solution reagent in the other reagent kits 41 in the plurality of reagent kits 41. The first drive system 42 then rotates the first reagent kit 4001 to the receiving position 401 to receive the smear 200.

According to the embodiment of the device, the smear 200 in the smear pushing machine 100 is usually required to undergo multiple staining processes in the staining mechanism 40, and the smear 200 is required to be subjected to treatments such as dyeing promotion and cleaning between the multiple staining processes, so as to ensure that a better observation effect can be obtained when the stained smear 200 is subjected to microscopic examination. In one embodiment, the plurality of reagent kits 41 are configured to store different stain reagents, wherein the stain reagents include a primary stain reagent contained in the primary stain cassette 410 and one or more of a stain accelerating reagent, a wash reagent and a stain counterstain reagent, corresponding to one or more of the stain accelerating, wash and stain counterstain further performed on the smear 200 in the next operation. It should be noted that the different dye solution reagents do not mean that all the reagents are used for staining the smear, and the dye solution reagents are used in different operations such as initial staining, accelerating staining, cleaning and counterstaining, or in the same cleaning operation, and the cleaning reagents in different reagent kits 41 are different. For example, different cleaning solutions in the cleaning reagent, or different ratios of a plurality of cleaning solutions after mixing, are different for the dye solutions.

Referring to fig. 16, in one embodiment, the plurality of reagent kits 41 further includes a second reagent kit 4002, and the first reagent kit 4001 and the second reagent kit 4002 are arranged along the circumference of the base 43, the stain reagent in the first reagent kit 4001 is different from the stain reagent in the second reagent kit 4002, and the smear 200 is processed in the first reagent kit 4001 and then in the second reagent kit 4002, the method further comprising:

s60, driving the robot 51 located at the placing position 501 to move toward the first reagent kit 4001 to take out the smear 200 which has completed the first processing from the first reagent kit 4001;

s70, driving base 43 to rotate about first axis 001 by a first angle α, such that first reagent cartridge 4001 is out of the splicing site 401 and second reagent cartridge 4002 is in the splicing site 401;

s80, the manipulator 51 is driven to move towards the second reagent kit 4002 to place the smear 200 into the second reagent kit 4002 for a second processing.

It is understood that, corresponding to the previous embodiment, the kit 41 may comprise a primary staining cassette 410, a stain promoting cassette 422, a first washing cassette 421, a secondary staining cassette 430 and a second washing cassette 440, so as to perform the primary staining, stain promoting, washing, secondary staining and washing operations on the smear 200 sequentially. In correspondence with the first reagent kit 4001, the smear 200, which has completed the first treatment, can be taken out of the first reagent kit 4001 by the present method, and then the first reagent kit 4001 is turned away by rotating the base 43 by the first angle α about the first axis 001, and the second reagent kit 4002 is rotated to its corresponding splicing site 401. In this process, the robot 51 may not move because the robot 51 is always at the placing position 501. When the second reagent cassette 4002 rotates to the splicing position 401, the re-driving robot 51 moves toward the second reagent cassette 4002 to directly put the smear 200 taken out of the first reagent cassette 4001 into the second reagent cassette 4002 for the second processing. The method of the embodiment provides the convenience that the manipulator 51 extracts the smear 200 from the first reagent kit 4001 and then rapidly drives the second reagent kit 4002 to rotate through the base 43, so that the smear 200 is placed in the second reagent kit 4002 for the second treatment. Since the manipulator 51 is always at the placing position 501, the manipulator 51 is in a static state during the process that the base 43 drives the second reagent kit 4002 to rotate. After the second reagent kit 4002 is rotated to the splicing site 401, the second reagent kit 4002 is still in a stationary state and is moved by the robot arm 51 to place the smear 200 into the second reagent kit 4002. The movement of the manipulator 51 and the base 43 are separated, so that the translation of the manipulator 51 and the rotation of the base 43 are controlled respectively, the quick transfer processing operation of the smear 200 is realized on the premise of simplifying the control logic, and the working efficiency of the film pusher 100 is improved.

Referring to fig. 17, the plurality of reagent cartridges 41 includes a first reagent cartridge 4001, a second reagent cartridge 4002, and a third reagent cartridge 4003 arranged adjacently in the circumferential direction of the base 43. And the dye solution reagents in the first reagent kit 4001, the second reagent kit 4002 and the third reagent kit 4003 are also different, the smear 200 is processed in the first reagent kit 4001, the second reagent kit 4002 and the third reagent kit 4003 in sequence, the method also comprises:

s90, driving the manipulator 51 located at the placing position 501 to move towards the second reagent box 4002 located at the splicing position 401 to take out the smear 200, which has completed processing, in the second reagent box 4002 out of the second reagent box 4002;

s100, driving the base 43 to rotate so that the second reagent kit 4002 leaves the splicing position 401, and the third reagent kit 4003 rotates to the splicing position 401;

s110, driving the manipulator 51 to move towards the third reagent kit 4003 located at the splicing site 401 to place the smear 200 into the third reagent kit 4003;

s120, driving the base 43 to rotate the first reagent kit 4001 to the splicing position 401;

s130, the robot 51 at the placing position 501 is driven to move toward the first reagent cassette 4001 to take out the smear 200 whose processing is completed from the first reagent cassette 4001 to be processed in the second reagent cassette 4002.

In this embodiment, the operation of moving the smear 200 by the robot 51 can be performed alternately. That is, the robot 51 moves the smear 200 whose processing is completed in the second reagent cassette 4002 into the third reagent cassette 4003, and then moves the smear 200 whose processing is completed in the first reagent cassette 4001 into the second reagent cassette 4002. It is understood that there are a plurality of smears 200, that a plurality of smears 200 are processed in a plurality of kits 41, and that the processing progress of each smear 200 may be the same or different. When the manipulator 51 moves the plurality of smears 200 at the same time, the smears can be always positioned at the placing position 501, the base 43 drives the different reagent kits 41 to sequentially rotate to the splicing position 401 matched with the manipulator 51, and then the manipulator 51 takes and places the smears to sequentially achieve the processing effect of the plurality of smears 200 among the different reagent kits 41.

Typically, the primary staining reagent is a mixture of a first biological dye capable of staining the eosinophilic substance in the blood sample and a second biological dye capable of staining the basophilic substance in the blood sample. The counterstaining reagent is a mixture of a third biological dye and a buffer solution, and the third biological dye can stain acidophilic substances or alkalophilic substances in the blood sample.

In one embodiment, the staining reagent in the first kit 4001 is a primary staining reagent, which corresponds to the step of primary staining the smear 200. In this case, the stain reagent in the second reagent kit 4002 may be a stain accelerating reagent, and the second reagent kit 4002 is used to accelerate the smear 200 that has been subjected to the initial staining. The stain reagent in the third reagent kit 4003 may be a wash reagent, and at this time the second reagent kit 4002 is used to perform a wash process on the smear 200 that has been subjected to the initial staining. Of course, the stain reagent in the third kit 4003 may be a counterstain reagent to perform counterstain treatment on the smear 200 that has been primarily stained.

In one embodiment, the stain reagent in the first reagent kit 4001 is a stain accelerating reagent, the stain reagent in the second reagent kit 4002 is a cleaning reagent, the stain reagent in the third reagent kit 4003 is a counterstain reagent, the second reagent kit 4002 is used for cleaning the smear 200 after the dye accelerating process, and the third reagent kit 4003 is used for counterstain the smear 200 after the cleaning process.

In one embodiment, the dye solution reagent in the first reagent kit 4001 is a washing reagent, the dye solution reagent in the second reagent kit 4002 is a counterdyeing reagent, and the dye solution reagent in the third reagent kit 4003 is a washing reagent. The second reagent kit 4002 is used for counterstaining the smear 200 that has been washed, and the third reagent kit 4003 is used for washing the smear 200 that has been counterstained.

In one embodiment, the stain reagent in the first reagent kit 4001 is a counterstain reagent, the stain reagents in the second reagent kit 4002 and the third reagent kit 4003 are both cleaning reagents, and the smear 200 can be cleaned twice after the counterstain is completed.

It should be noted that the present invention provides a method for controlling a blade pushing machine, and the specific implementation thereof can be further explained with reference to the embodiments of the apparatus in fig. 1 to 13.

The features mentioned above in the description, the claims and the drawings can be combined with one another in any desired manner, insofar as they are within the scope of the invention. The advantages and features explained for the pusher 100 apply in a corresponding manner to the chemiluminescent immunoassay analyzer and to the magnetic bead washing separation method and vice versa.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

A blade pusher, comprising:

a slide loading mechanism for loading slides;

a sample application mechanism for loading a blood sample onto the slide;

the sheet pushing mechanism is used for flattening the blood sample on the slide to prepare a smear;

the dyeing mechanism comprises a kit, a plurality of placing parts and a first driving system, wherein the placing parts are arranged in the kit and used for forming an insertion area for inserting the smear, a dye solution reagent is stored in the kit, the smear can be soaked in the dye solution reagent for corresponding treatment when being accommodated in the insertion area, the top of the kit is provided with an opening, and the first driving system is used for driving the kit to rotate around a first axis;

the smear moving mechanism comprises a manipulator and a second driving system, the manipulator is used for extracting the smear and placing the smear into the reagent box for dyeing, and the second driving system is used for driving the manipulator to perform reciprocating translation along a second direction;

after the first driving system and the second driving system respectively drive the reagent kit and the manipulator to move to corresponding matching positions, the second driving system is further used for driving the manipulator to move towards the reagent kit so as to place the smear into the reagent kit from the opening for dyeing or take out the smear from the reagent kit.
The sheet pushing machine according to claim 1, wherein the staining mechanism is provided with a sheet receiving position and a storage position corresponding to the reagent box, wherein the sheet receiving position corresponds to the matching position of the reagent box and the manipulator, and the first driving system drives the reagent box to switch between the storage position and the sheet receiving position, so that the manipulator puts the smear into the reagent box at the sheet receiving position or takes the smear out of the reagent box at the sheet receiving position.
The slide pusher of claim 2, wherein the dyeing mechanism further comprises a base connected between the reagent cartridge and the first drive system, the base being circular, the first drive system driving the reagent cartridge to rotate about the first axis to switch between the storage position and the slide receiving position.
The slide pusher of claim 2, wherein the dyeing mechanism further comprises a base connected between the reagent box and the first driving system, the base is fan-shaped, and the first driving system drives the reagent box to rotate around the first axis in a reciprocating manner to switch between the storage position and the slide receiving position.
The pusher of any one of claims 1-4, wherein the first drive system rotates the reagent cartridge in a first horizontal plane to switch between the storage position and the splicing position.
The sheet pusher according to any one of claims 2 to 5, wherein the number of the reagent boxes is plural, the staining mechanism is provided with at least one placing position corresponding to each reagent box, and the manipulator puts the smear into the corresponding reagent box at each placing position or takes the smear out of the reagent box.
The sheet pusher according to claim 6, wherein a plurality of reagent cartridges are arranged on the base in sequence along a circumferential direction of the base.
The sheet pusher according to claims 2-7, wherein the staining mechanism is provided with a fixed cover plate, the cover plate is arranged above the reagent box corresponding to the rotation path of the reagent box, the cover plate is used for covering the opening of the reagent box, and the cover plate is provided with a notch corresponding to the sheet receiving position, the notch is used for allowing the manipulator to pass through and put the smear into the reagent box from the opening for staining or take the smear out of the reagent box.
The sheet pusher according to any one of claims 1 to 8, wherein a sheet taking position and a placing position corresponding to the manipulator are provided on a moving path of the manipulator, and the placing position corresponds to the matching position of the reagent box and the manipulator, the second driving system comprises a first driving device, the first driving device drives the manipulator to switch positions between the sheet taking position and the placing position, the manipulator takes the smear at the sheet taking position, and the manipulator takes the smear into the reagent box or takes the smear out of the reagent box at the placing position.
The pusher according to claim 9, characterized in that the second drive system further comprises a second drive device for driving the robot arm towards the magazine in the placement position for placing the smear into the magazine or for removing the smear from the magazine.
The sheet pusher according to claim 10, wherein the first driving device drives the manipulator to translate in a second horizontal plane to realize the position switching of the manipulator between the sheet taking position and the placing position, and the second driving device drives the manipulator to move back and forth in a vertical direction to put the smear into the reagent box or take the smear out of the reagent box.
The sheet pusher according to any one of claims 9 to 11, wherein when the first driving device drives the manipulator to move to the placement position, a projection of the manipulator on the first horizontal plane is located within a rotation path of the reagent cartridge, and when the first driving device drives the manipulator to move to the sheet taking position, the projection of the manipulator on the first horizontal plane is located outside the rotation path of the reagent cartridge, so that the sheet pusher forms two accommodating spaces corresponding to two side positions of a travel direction of the manipulator at least above the first horizontal plane.
The wafer pusher according to claim 12, wherein the base is circular, the manipulator at the wafer taking position is farther from a center of the base than the manipulator at the placing position, so that the wafer pusher is above the first horizontal plane, an accommodating space is formed on one side of the manipulator at the placing position facing the center of the base, and the accommodating space is respectively communicated with two accommodating spaces corresponding to two sides of the manipulator in a traveling direction.
The wafer pusher of any of claims 5-13, wherein a projection of the second direction onto the first horizontal plane passes through a geometric center of the base.
The slide pusher according to any one of claims 1-14, wherein the kit comprises a primary staining box and a separation box, the primary staining box storing a first staining solution for primary staining of the smear, the first staining solution being a mixture of a first biological dye and a second biological dye, the first biological dye being capable of staining an acidophilic substance in a blood sample, the second biological dye being capable of staining an alkalophilic substance in the blood sample; the reagents stored in the isolation cassette were used to treat the blood samples after the initial staining and before the counterstaining.
The slide pusher according to claim 15, characterized in that said kit further comprises a counterstain box in which a second stain is stored for counterstaining said smear, said second stain being a mixture of a third biological dye and a buffer, said third biological dye being capable of staining an alkalophilic substance or an alkalophilic substance in a blood sample.
The slide pusher of claim 15 or 16, wherein the first drive system further drives the reagent cartridge to rotate back and forth about the first axis to homogenize the dye solution reagent in the reagent cartridge.
The film pusher according to claims 15-17, wherein the dyeing mechanism further comprises a first dye liquor recovery system, a first dye liquor feeding system and a first dye liquor sealed container, the first dye liquor recovery system is respectively communicated with the first dye liquor sealed container and the dyeing box for recovering the corresponding first dye liquor in the dyeing box to the first dye liquor sealed container; and the first dye liquor inlet system is respectively communicated with the first dye liquor sealed container and the dyeing box and is used for discharging the first dye liquor in the first dye liquor sealed container into the dyeing box again.
The film pusher according to claims 15-18, wherein when there is no smear in the preliminary dyeing box that needs to be dyed or a first dye solution recovery instruction sent by a user is received, the first dye solution path control system recovers the corresponding first dye solution in the preliminary dyeing box to the first dye solution sealed container; when a smear is required to be dyed in the primary dyeing box or a first dye liquor feeding instruction sent by a user is received, the first dye liquor path control system discharges the first dye liquor in the first dye liquor sealed container into the primary dyeing box.
The slide loader of any one of claims 15-19, wherein the dyeing mechanism further comprises a first dye liquor drainage system, the first dye liquor drainage system is in communication with the preliminary dyeing box or the first dye liquor sealed container, and when the first dye liquor meets a drainage requirement or after a first dye liquor drainage instruction sent by a user is received, the first dye liquor drainage system drains the first dye liquor in the preliminary dyeing box or the first dye liquor sealed container.
The slide pusher of any one of claims 15-20, wherein the isolation cassette comprises a stain promotion cassette storing a buffer solution, the stain promotion cassette being configured to buffer and wash the smears after initial staining.
The sheet pusher according to any one of claims 15-21, wherein the isolation box further comprises a first washing box containing a washing solution or buffer solution, and the first washing box is used for washing the smear after the initial dyeing and/or the treatment of the dye promotion box.
The slide pusher according to any one of claims 15-22, characterized in that the kit further comprises a second washing box containing a washing solution or buffer solution, and the second washing box is used for washing the smears after the counterstaining.
The sheet pusher of claim 23, wherein the initial dyeing box, the dyeing promotion box, the first cleaning box, the secondary dyeing box and the second cleaning box are sequentially arranged on the base along a circumferential direction of the base.
A control method of a sheet pusher is characterized by comprising the following steps:

loading a blood sample onto a slide and smearing to make a smear;

driving a mechanical arm to extract the smear and driving the mechanical arm to translate to a placing position along a second direction;

the driving base rotates around a first axis to drive a first kit in the plurality of kits to rotate to the splicing position;

driving the manipulator to move towards the first reagent kit located at the taking position to place the smear into the first reagent kit for processing;

after the treatment in the first kit is completed, judging whether the first kit is at the splicing position:

if the first kit is located at the splicing position, driving the manipulator located at the placing position to move towards the first kit so as to take out the processed smear from the first kit and perform the next operation;

and if the first kit is not positioned at the splicing position, driving the base to rotate around a first axis so as to rotate the first kit back to the splicing position, and then driving the mechanical arm positioned at the placing position to move towards the first kit so as to take out the smears which are processed from the first kit and carry out the next operation.
The method of claim 25, wherein the plurality of reagent cartridges are for storing a dye solution reagent, and wherein the drive base is rotated about the first axis to rotate a first reagent cartridge of the plurality of reagent cartridges to the tabbed position, further comprising:

driving the base to rotate back and forth around the first axis to uniformly mix the dye liquor reagent in the reagent box;

and driving the base around the first axis to rotate the uniformly mixed first kit to the splicing position.
The method of claim 25 or 26, wherein the plurality of reagent kits further comprises a second reagent kit, the first reagent kit and the second reagent kit are arranged along the circumference of the base, the dye reagent in the first reagent kit is different from the dye reagent in the second reagent kit, and the smear is processed in the second reagent kit after being processed in the first reagent kit, the method further comprising:

driving the manipulator at the placing position to move towards the first reagent box to take out the smear which is finished with the first processing by the first reagent box;

driving the base to rotate a first angle about a first axis such that the first reagent cartridge leaves the splicing position and the second reagent cartridge is in the splicing position;

and driving the manipulator to move towards the second reagent box so as to place the smear into the second reagent box for second treatment.
The method for controlling a film pusher according to claim 27, wherein the plurality of reagent kits further comprises a third reagent kit, the first reagent kit, the second reagent kit and the third reagent kit are sequentially arranged along the circumferential direction of the base, the dye reagents in the first reagent kit, the second reagent kit and the third reagent kit are different from each other, and the smear is sequentially processed in the first reagent kit, the second reagent kit and the third reagent kit, the method further comprising:

driving the manipulator at the placing position to move towards the second reagent box at the splicing position so as to take out a smear which is processed in the second reagent box from the second reagent box;

driving the base to rotate so that the second reagent cartridge leaves the splicing position and the third reagent cartridge rotates to the splicing position;

driving the robot arm to move toward the third reagent cartridge located at the taking position to place the smear into the third reagent cartridge;

driving the base to rotate the first reagent cartridge to the splicing position;

driving the robot at the placement position to move toward the first reagent cartridge to take out the smears that have completed processing from the first reagent cartridge for processing in the second reagent cartridge.
The method for controlling a slide pusher machine according to any one of claims 24-28, wherein the plurality of reagent boxes are used for storing a dye solution reagent, the dye solution reagent comprises a primary dye reagent contained in the primary dye box, the dye solution reagent further comprises one or more of a dye promotion reagent, a cleaning reagent and a re-dye reagent, and the dye solution reagent corresponds to one or more operation processes of dye promotion, cleaning and re-dyeing of the smear in the next operation.
The method of claim 29, wherein the dye solution reagent in the first kit is a primary dye reagent, and the dye solution reagents in the second kit and the third kit are each one of a dye promotion reagent, a cleaning reagent, or a counterdye reagent.
The method of claim 29, wherein the dye solution reagent in the first reagent kit is a dye promotion reagent, and the dye solution reagents in the second and third reagent kits are each one of a cleaning reagent or a counterstain reagent.
The method of claim 29, wherein the dye solution reagent in the first reagent kit is a washing reagent, and the dye solution reagent in the second reagent kit and the third reagent kit is one of a counterstaining reagent or a washing reagent, respectively.
The method for controlling a slide pusher according to claim 29, wherein the dye solution reagent in the first reagent kit is a counterstain reagent, and the dye solution reagents in the second reagent kit and the third reagent kit are both cleaning reagents.