CN114963982B - Method and device for detecting slice position in digital pathological slice scanner - Google Patents
Method and device for detecting slice position in digital pathological slice scanner Download PDFInfo
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Abstract
The invention discloses a method and a device for detecting slice positions in a digital pathological slice scanner, wherein the method comprises the following steps: calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box; determining an initial position of a film examination and the whole film examination stroke; calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices; storing all detected slice position information, and determining the specific position of each slice according to the existing data; and calculating the slice outlet position of each slice according to the specific position of each slice. The invention not only provides a method for efficiently detecting the slice position in the digital pathological section scanner and saves the labor cost, but also improves the positioning accuracy of the slice in the digital pathological section scanner, thereby achieving the effect of precisely positioning the specific position coordinates of the slice in the slice box.
Description
Technical Field
The invention relates to a method and a device for detecting a slice position in a digital pathological section scanner, in particular to the technical field of digital pathological section scanner detection.
Background
The digital pathological section scanner is one instrument for scanning physical section into digital information and storing it into computer, and the user can digitize the physical section by means of software operation. At present, slice scanners with a single slice mode and a plurality of slice modes exist in the market, wherein the single slice mode is single manual slice feeding, and the operation is complicated; the multi-disc mode is characterized in that the disc feeding device automatically feeds discs, the scanning efficiency is high, and manual watching is not needed, so that the multi-disc mode becomes the first choice of customers. The slide mode of a multi-slice scanner is also different from one manufacturer to another, and is broadly divided into two types, tray type devices and slice boxes. The tray type slide glass device has high stability, but has certain limitation, and after the slice dyeing is finished, the slice is manually placed into the tray, so that the operation is time-consuming and labor-consuming; the slice box suitable for dyeing unifies the slice slide mode of dyeing and scanning two steps, and is more convenient to operate.
In order to improve the movement efficiency, two electric claws are generally adopted to respectively grasp and replace the slice. After a user puts the slice box into the scanner, the slice feeding device firstly needs to position the slice in the slice box, then the slice is taken out of the slice box by the electric claw 1 and put into the scanning device, and after scanning, the slice is put back into the slice box by the electric claw 2. The whole movement process has higher precision requirement on the slice feeding device, but the difficulty of positioning the slice position is increased due to the influence of objective factors such as different slice thicknesses, slight difference of the slice box placement positions each time and the like. If the position of each slice is simply manually debugged, a large amount of position information is required to be recorded, and once the slice position is deviated, the slice cannot be accurately moved in and out, and even the slice is damaged.
In order to improve the slice positioning precision and save the labor cost, the invention provides a method for efficiently detecting the slice position in a digital pathological slice scanner.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a device for detecting the slice position in a digital pathological section scanner, which can rapidly detect the slice position and improve the slice positioning precision.
The technical scheme adopted for solving the technical problems is as follows:
In a first aspect, an embodiment of the present invention provides a method for detecting a slice position in a digital pathological slice scanner, including:
Calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
determining an initial position of a film examination and the whole film examination stroke;
calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing all detected slice position information, and determining the specific position of each slice according to the existing data;
and calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, where the laser sensor determines a slice position through laser induction, the electric claw 1 is used to grasp the slice, and the electric claw 2 is used to replace the slice.
As a possible implementation manner of this embodiment, the calculating the interval between the laser sensor and the two electric claws of the feeding device and the interval between the slices in the slice box includes:
Moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the first slice cross section of the slice box, and recording the position A at the moment; then moving the slice feeding device to enable the electric claw 1 to grasp the first slice, and recording the position B 0 at the moment; moving the slice feeding device to enable the electric claw 2 to grasp the first slice, and recording the position B 1 at the moment;
Subtracting the electric claw position from the laser position by using the formula (1), and calculating the intervals LC 0 and LC 1 between the laser sensor and the two electric claws:
LCj＝Bj-A (1)
j=0 or 1, LC 0 and LC 1 are the intervals of the laser sensor from the electric claw 1 and the electric claw 2, respectively;
Moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last slice of the slice box, recording the position F at the moment, substituting the first slice position A and the last slice position F into the formula (2) to calculate the interval n of each slice in the slice box:
n＝(F-A)/(G-1) (2)
Where G is the capacity of the slice box.
As a possible implementation manner of this embodiment, the determining the initial position of the film searching and the entire film searching stroke includes:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
As a possible implementation manner of this embodiment, the calculating the number of steps that the motor needs to move according to the current position of the motor and the initial slice searching position, and controlling the motor to move according to the whole slice searching stroke, and detecting the position information of all slices includes:
S31, adding the initial position of the slice checking and the slice checking travel, calculating the end position C of the slice checking, initializing a slice position data counter D=0, initializing a detected position information array E and allocating 1000 memory addresses for the slice position data counter D=0, initializing a slice ID array J and allocating 1000 memory addresses for the slice ID array J, initializing a slice position array K and allocating 1000 memory addresses for the slice position array K, and initializing the number num=0 of slices;
S32, reading data S in a current register;
s33, if S < C, entering the next step, otherwise, ending the film checking process;
S34, re-reading the data S in the current register, entering the next step if the slice is detected according to the information returned by the laser sensor, otherwise repeating the step until the data S in the current register is read;
s35, a slice position data counter D++, recording the currently detected position information E [ D ] =S, and entering step S33 after delay for 1 ms.
As a possible implementation manner of this embodiment, the storing the detected position information of all slices, determining a specific position of each slice according to existing data includes:
s41, setting the final position FP of the current slice as E1, and setting a position counter i of the detected slice;
S42, if i < =d, proceeding to step S43; otherwise, step S47 is entered;
s43, substituting the recorded ith position into the formula (3) to calculate the final position FP of the current slice:
FP＝(FP+E[i])/2 (3)
Wherein, i is D, enter step S44;
S44, if Ei-1 < = 100, regarding the positions of i and i-1 as the same slice, entering step S45, otherwise, entering step S46, wherein the positions of i and i-1 do not belong to the same slice;
S45, i++, and entering step S42;
S46, calculating the current slice ID according to the formula (4),
ID＝(FP-NP+N)/n+1 (4)
Wherein NP is the initial position of the current query slice box, N is the reverse movement step of the laser sensor during slice searching, and N is the interval of each slice in the slice box;
Adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and adding num++, and entering a step S45;
S47, processing the last group of position data, calculating the ID of the current slice according to the formula (4), adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and clearing the slice position data counter to D=0.
As a possible implementation manner of this embodiment, the calculating, according to a specific position of each slice, a slice outlet position of each slice includes:
Analyzing the slice ID array J and the position array K, substituting the position SP k of each slice, the distance CL 0 between the laser sensor and the electric claw 1 and the distance CL 1 between the laser sensor and the electric claw 1 into the formula (5), and calculating the slice outlet position SC j of each slice:
SCj＝SPk+CLj (5)
where k e J, j=0, 1.
In a second aspect, an embodiment of the present invention provides a device for detecting a slice position in a digital pathological slice scanner, including:
The interval calculating module is used for calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
The stroke determining module is used for determining the initial position of the film searching and the whole film searching stroke;
The slice position detection module is used for calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all detected slice position information and determining the specific position of each slice according to the existing data;
and the slice outlet position calculating module is used for calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, where the laser sensor determines a slice position through laser induction, the electric claw 1 is used to grasp the slice, and the electric claw 2 is used to replace the slice.
As a possible implementation manner of this embodiment, the stroke determining module is specifically configured to:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
The technical scheme of the embodiment of the invention has the following beneficial effects:
The technical scheme of the embodiment of the invention provides a method for detecting the slice position in a digital pathological section scanner, which comprises the following steps: calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box; determining an initial position of a film examination and the whole film examination stroke; calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices; storing all detected slice position information, and determining the specific position of each slice according to the existing data; and calculating the slice outlet position of each slice according to the specific position of each slice. The invention not only provides a method for efficiently detecting the slice position in the digital pathological section scanner and saves the labor cost, but also improves the positioning accuracy of the slice in the digital pathological section scanner, thereby achieving the effect of precisely positioning the specific position coordinates of the slice in the slice box.
Description of the drawings:
FIG. 1 is a flow chart illustrating a method of detecting slice position in a digital pathological slice scanner according to an exemplary embodiment;
FIG. 2 is a block diagram illustrating a device for detecting slice position in a digital pathology slice scanner according to an exemplary embodiment;
FIG. 3 is a schematic diagram of a tablet feeder according to an exemplary embodiment;
fig. 4 is a schematic diagram of a microtome sectionable cassette, according to an example embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily obscure the present invention.
Fig. 1 is a flowchart illustrating a method for detecting a slice position in a digital pathological slice scanner according to an exemplary embodiment. As shown in fig. 1, a method for detecting a slice position in a digital pathological slice scanner according to an embodiment of the present invention includes:
Calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
determining an initial position of a film examination and the whole film examination stroke;
calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing all detected slice position information, and determining the specific position of each slice according to the existing data;
and calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, as shown in fig. 3, the feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, where the laser sensor determines a slice position through laser induction, the electric claw 1 is used to grasp the slice, and the electric claw 2 is used to replace the slice.
As a possible implementation manner of this embodiment, the calculating the interval between the laser sensor and the two electric claws of the feeding device and the interval between the slices in the slice box includes:
As shown in fig. 4, the dicing box moves into the dicing device, so that laser emitted by the laser sensor is hit at the middle position of the first dicing cross section of the dicing box, and the position A at the moment is recorded; then moving the slice feeding device to enable the electric claw 1 to grasp the first slice, and recording the position B 0 at the moment; moving the slice feeding device to enable the electric claw 2 to grasp the first slice, and recording the position B 1 at the moment;
Subtracting the electric claw position from the laser position by using the formula (1), and calculating the intervals LC 0 and LC 1 between the laser sensor and the two electric claws:
LCj＝Bj-A (1)
j=0 or 1, LC 0 and LC 1 are the intervals of the laser sensor from the electric claw 1 and the electric claw 2, respectively;
Moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last slice of the slice box, recording the position F at the moment, substituting the first slice position A and the last slice position F into the formula (2) to calculate the interval n of each slice in the slice box:
n＝(F-A)/(G-1) (2)
Where G is the capacity of the slice box.
As a possible implementation manner of this embodiment, the determining the initial position of the film searching and the entire film searching stroke includes:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
As a possible implementation manner of this embodiment, the calculating the number of steps that the motor needs to move according to the current position of the motor and the initial slice searching position, and controlling the motor to move according to the whole slice searching stroke, and detecting the position information of all slices includes:
S31, adding the initial position of the slice checking and the slice checking travel, calculating the end position C of the slice checking, initializing a slice position data counter D=0, initializing a detected position information array E and allocating 1000 memory addresses for the slice position data counter D=0, initializing a slice ID array J and allocating 1000 memory addresses for the slice ID array J, initializing a slice position array K and allocating 1000 memory addresses for the slice position array K, and initializing the number num=0 of slices;
S32, reading data S in a current register;
s33, if S < C, entering the next step, otherwise, ending the film checking process;
S34, re-reading the data S in the current register, entering the next step if the slice is detected according to the information returned by the laser sensor, otherwise repeating the step until the data S in the current register is read;
s35, a slice position data counter D++, recording the currently detected position information E [ D ] =S, and entering step S33 after delay for 1 ms.
As a possible implementation manner of this embodiment, the storing the detected position information of all slices, determining a specific position of each slice according to existing data includes:
s41, setting the final position FP of the current slice as E1, and setting a position counter i of the detected slice;
S42, if i < =d, proceeding to step S43; otherwise, step S47 is entered;
s43, substituting the recorded ith position into the formula (3) to calculate the final position FP of the current slice:
FP＝(FP+E[i])/2 (3)
Wherein, i is D, enter step S44;
S44, if Ei-1 < = 100, regarding the positions of i and i-1 as the same slice, entering step S45, otherwise, entering step S46, wherein the positions of i and i-1 do not belong to the same slice;
S45, i++, and entering step S42;
S46, calculating the current slice ID according to the formula (4),
ID＝(FP-NP+N)/n+1 (4)
Wherein NP is the initial position of the current query slice box, N is the reverse movement step of the laser sensor during slice searching, and N is the interval of each slice in the slice box;
Adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and adding num++, and entering a step S45;
S47, processing the last group of position data, calculating the ID of the current slice according to the formula (4), adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and clearing the slice position data counter to D=0.
As a possible implementation manner of this embodiment, the calculating, according to a specific position of each slice, a slice outlet position of each slice includes:
Analyzing the slice ID array J and the position array K, substituting the position SP k of each slice, the distance CL 0 between the laser sensor and the electric claw 1 and the distance CL 1 between the laser sensor and the electric claw 1 into the formula (5), and calculating the slice outlet position SC j of each slice:
SCj＝SPk+CLj (5)
where k e J, j=0, 1.
As shown in fig. 2, a device for detecting a slice position in a digital pathological slice scanner according to an embodiment of the present invention includes:
The interval calculating module is used for calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
The stroke determining module is used for determining the initial position of the film searching and the whole film searching stroke;
The slice position detection module is used for calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all detected slice position information and determining the specific position of each slice according to the existing data;
and the slice outlet position calculating module is used for calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, where the laser sensor determines a slice position through laser induction, the electric claw 1 is used to grasp the slice, and the electric claw 2 is used to replace the slice.
As a possible implementation manner of this embodiment, the stroke determining module is specifically configured to:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
The present invention will now be described by way of example for a cassette capacity of 20 sheets, and the specific procedure for detecting the position of a slice in a digital pathology slice scanner is as follows.
S1, calculating the interval between the laser sensor and the two electric claws and the interval between each slice in the slice box. The first slice and the last slice are placed in the slice box, and the slice box is placed in the scanner. The slice feeding device is shown in fig. 3 and comprises a laser sensor, an electric claw 1 and an electric claw 2, wherein the laser sensor is used for determining the slice position through laser induction, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for replacing the slice. The dicing box is shown in fig. 4, the dicing feeding device is moved to make the laser emitted by the laser sensor strike at the middle position of the first dicing cross section of the dicing box, and the position a=15000 is recorded at this time; then moving the slice feeding device to enable the electric claw 1 to grasp the first slice, and recording the position B 0 =9000 at the moment; finally, the slice feeding device is moved, so that the electric claw 2 can grasp the first slice, and the position B 1 =1500 is recorded. And (3) subtracting the positions of the two electric claws from the laser positions respectively by using a formula (1), and calculating the intervals LC 0 & lt- & gt 6000 and LC 1 & lt- & gt 13500 between the laser sensor and the two electric claws. And moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last slice of the slice box, recording the position F=35520 at the moment, substituting the first slice position A=15000, the last slice position F=35520 and the slice capacity G=20 into the formula (2) to calculate the interval n=1080 of each slice in the slice box.
S2, determining the initial position of the film inspection and the whole film inspection stroke. Moving the film feeding device to the position A, reversely moving the laser sensor for N= -1000 steps, and setting the position at the moment as the initial film checking position; and then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, recording the position at the moment as a film checking end position, subtracting the initial position from the end position, and calculating the whole film checking travel.
S3, checking the tablet. And calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film searching position, and sending a movement instruction to the lower computer. After the motor moves to the initial film searching position, the whole film searching stroke is sent to the lower computer, and the lower computer sends a movement instruction to start the film searching process.
Step s31, adding the initial position of the slice to the slice searching travel, calculating the end position c= 36520, initializing the slice position data counter d=0, initializing the detected position information array E and allocating 1000 memory addresses to it, initializing the slice ID array J and allocating 1000 memory addresses to it, initializing the slice position array K and allocating 1000 memory addresses to it, and initializing the slice number num=0.
And S32, reading data S in a current register.
S33, if S < C, namely the current film checking process is not finished, entering a step S3.4; otherwise, the film checking process is ended, and the process proceeds to step S41.
Step S34, re-reading the data S in the current register, and entering step S35 if the slice is detected to exist according to the information returned by the laser sensor; otherwise, repeating the step.
Step S35, a slice position data counter d++, record the currently detected position information E [ D ] =s, and enter step S33 after a delay of 1 ms.
Let d=3, e 1=14870, e 2=149550, e 3=15040 after the completion of the slicing process.
S4, determining the specific positions of the slices in and out. At the end of the slicing process, all the position information of the slice which is detected to be possibly present is stored in E, and the specific position of each slice is determined according to the existing data.
Step s41. Set the current slice final position FP, the detected slice position counter i=2, obtain the position E [1] of the first detected slice present and assign it to FP, i.e. fp=14870.
Step S42, because i=2, d= 3,i < =d, proceeds to step S43.
Step S43, substituting i=2 into formula (3) to calculate the final position fp= (14870+14950)/2=14910 of the current slice, and the process proceeds to step S44.
Step S44. Because E2-E1=80, E i-1 < =100, the positions of i and i-1 are regarded as the same slice, and the process proceeds to step S45.
Step s45.i++, step S42 is entered.
When i=3, go through step S42 to step S45 again, and finally fp=14975, i=4 are obtained, and step S42 is entered, and the condition of i < =d is not satisfied, and step S47 is entered.
Step s47, the last set of position data needs to be processed, and the current slice id= (14975-14000+ (-1000))/1080+1=1 is calculated according to formula (4). The current slice ID is added to the array J [ num ], i.e., J [0] =1, the final position FP is added to the array K [ num ], i.e., K [0] = 14975, and then the two arrays are sent to the upper computer together, the slice position data counter is cleared to d=0, and step S5 is entered.
S5, the upper computer analyzes the slice ID array J and the position array K. Since there is only one slice with a slice ID of 1 in the present case, the slice position SP 1 and the distance CL 0 between the laser sensor and the electric jaw 1 and the distance CL 1 between the laser sensor and the electric jaw 1 are substituted into the equation (5), and the slice exit position SC 0 =8675 with an ID of 1 and the slice entry position SC 1 =1475 with an ID of 1 are calculated.
And S6, finishing slice position detection.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (6)
1. A method for detecting a slice position in a digital pathological slice scanner, comprising:
Calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
determining an initial position of a film examination and the whole film examination stroke;
calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing all detected slice position information, and determining the specific position of each slice according to the existing data;
Calculating the slice outlet position of each slice according to the specific position of each slice;
The slice feeding device comprises a laser sensor, a first electric claw and a second electric claw, wherein the laser sensor is used for determining the position of a slice through laser induction, the first electric claw is used for grabbing the slice, and the second electric claw is used for placing back the slice;
The calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval between the slices in the slice box comprises the following steps:
moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the first slice cross section of the slice box, and recording the position A at the moment; moving the slice feeding device to enable the first electric claw to grasp the first slice and record the position at the moment ; Moving the slice feeding device to enable the second electric claw to grasp the first slice and record the position；
Subtracting the position of the electric claw from the laser position by using the formula (1) to calculate the interval between the laser sensor and the two electric clawsAnd：
（1）
J=0 or 1,AndThe intervals between the laser sensor and the first electric claw and the second electric claw are respectively;
Moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last slice of the slice box, recording the position F at the moment, substituting the first slice position A and the last slice position F into the formula (2) to calculate the interval n of each slice in the slice box:
(2)
Wherein G is the capacity of the slice box;
the calculating the slice outlet position of each slice according to the specific position of each slice comprises the following steps:
Analyzing the slice ID array J and the position array K, and positioning each slice And spacing/>, of the laser sensor from the first electrical jawSpacing of the laser sensor from the second electrical jawSubstituting the obtained product into the formula (5) to calculate the slice outlet position of each sliceOr the position of feeding the sheet：
（5）
Wherein k isJ, j=0 or 1.
2. The method for detecting slice positions in a digital pathological slice scanner according to claim 1, wherein determining the initial slice position and the entire slice stroke comprises:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
3. The method for detecting slice positions in a digital pathological slice scanner according to claim 2, wherein the step number of the motor to be moved is calculated according to the current position of the motor and the initial slice checking position, and the motor is controlled to move according to the whole slice checking travel to detect the position information of all slices, comprising:
S31, adding the initial position of the slice checking and the slice checking travel, calculating the end position C of the slice checking, initializing a slice position data counter D=0, initializing a detected position information array E and allocating 1000 memory addresses for the slice position data counter D=0, initializing a slice ID array J and allocating 1000 memory addresses for the slice ID array J, initializing a slice position array K and allocating 1000 memory addresses for the slice position array K, and initializing the number num=0 of slices;
S32, reading data S in a current register;
s33, if S < C, entering the next step, otherwise, ending the film checking process;
S34, re-reading the data S in the current register, entering the next step if the slice is detected according to the information returned by the laser sensor, otherwise repeating the step until the data S in the current register is read;
S35, a slice position data counter D++, recording the currently detected position information E [ D ] =S, and entering step S33 after delay for 1 ms.
4. A method for detecting slice positions in a digital pathological slice scanner according to claim 3, wherein the storing all slice position information detected, determining a specific position of each slice based on existing data comprises:
s41, setting the final position FP of the current slice as E1, and setting a position counter i of the detected slice;
S42, if i < =d, proceeding to step S43; otherwise, step S47 is entered;
S43, substituting the recorded ith position into the formula (3) to calculate the final position FP of the current slice:
（3）
wherein, Step S44 is entered;
S44, if Ei-1 < = 100, regarding the positions of i and i-1 as the same slice, entering step S45, otherwise, entering step S46, wherein the positions of i and i-1 do not belong to the same slice;
S45, i++, and entering step S42;
s46, calculating the current slice ID according to the formula (4),
（4）
Wherein NP is the initial position of the current query slice box, N is the reverse movement step of the laser sensor during slice searching, and N is the interval of each slice in the slice box;
Adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and adding num++, and entering a step S45;
S47, processing the last group of position data, calculating the ID of the current slice according to the formula (4), adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], and clearing the slice position data counter to D=0.
5. A device for detecting a slice position in a digital pathology slice scanner, comprising:
The interval calculating module is used for calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval of slices in the slice box;
The stroke determining module is used for determining the initial position of the film searching and the whole film searching stroke;
The slice position detection module is used for calculating the number of steps of the motor which needs to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all detected slice position information and determining the specific position of each slice according to the existing data;
the slice outlet position calculation module is used for calculating the slice outlet position of each slice according to the specific position of each slice;
The slice feeding device comprises a laser sensor, a first electric claw and a second electric claw, wherein the laser sensor is used for determining the position of a slice through laser induction, the first electric claw is used for grabbing the slice, and the second electric claw is used for placing back the slice;
The calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval between the slices in the slice box comprises the following steps:
moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the first slice cross section of the slice box, and recording the position A at the moment; moving the slice feeding device to enable the first electric claw to grasp the first slice and record the position at the moment ; Moving the slice feeding device to enable the second electric claw to grasp the first slice and record the position；
Subtracting the position of the electric claw from the laser position by using the formula (1) to calculate the interval between the laser sensor and the two electric clawsAnd：
（1）
J=0 or 1,AndThe intervals between the laser sensor and the first electric claw and the second electric claw are respectively;
Moving the slice feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last slice of the slice box, recording the position F at the moment, substituting the first slice position A and the last slice position F into the formula (2) to calculate the interval n of each slice in the slice box:
(2)
Wherein G is the capacity of the slice box;
the calculating the slice outlet position of each slice according to the specific position of each slice comprises the following steps:
Analyzing the slice ID array J and the position array K, and positioning each slice And spacing/>, of the laser sensor from the first electrical jawSpacing of the laser sensor from the second electrical jawSubstituting the obtained product into the formula (5) to calculate the slice outlet position of each sliceOr the position of feeding the sheet：
（5）
Wherein k isJ, j=0 or 1.
6. The apparatus for detecting slice position in a digital pathological slice scanner according to claim 5, wherein the travel determination module is specifically configured to:
Moving the slice feeding device to enable a laser spot emitted by the laser sensor to be aligned with the middle position of the cross section of the first slice in the slice box, reversely moving the laser sensor for N steps to enable laser to strike the upper edge of the slice box, and setting the position at the moment as a slice checking initial position; then moving a slice feeding device to enable a laser point emitted by a laser sensor to be aligned with the lower edge of the slice box, and recording the position at the moment as a slice checking end position; and subtracting the initial position from the final position to calculate the whole film searching stroke.
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