CN108387518A - The slice handling system and pathological section scanner of pallet-free frame lifting gear - Google Patents
The slice handling system and pathological section scanner of pallet-free frame lifting gear Download PDFInfo
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- CN108387518A CN108387518A CN201810238762.3A CN201810238762A CN108387518A CN 108387518 A CN108387518 A CN 108387518A CN 201810238762 A CN201810238762 A CN 201810238762A CN 108387518 A CN108387518 A CN 108387518A
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- slice
- pallet
- tray rack
- scanned
- handling system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Abstract
This application involves a kind of slice handling systems, including：Tray rack, pallet, tray drive and sucker manipulator；Tray rack is equipped with the mounting groove of several accommodating trays, and the opening for the disengaging of each pallet is provided on front side of tray rack；Pallet is equipped with several positions for placing slice；The tray drive drives pallet to remove tray rack from above-mentioned opening one by one（The slice on the pallet to be exposed in the operating space of sucker manipulator）Be moved back to original position；Sucker manipulator is taken and discharges slice, is transported slice between the objective table and the pallet for removing tray rack of micro optical system, is traversed all slices to be scanned.The slice handling system of the application can reduce the time of slice handling, and be sliced capacity bigger, compact-sized, be suitble to the large batch of pathological section of automatic business processing.
Description
Technical field
This application involves a kind of slice handling system and pathological section scanner, especially a kind of slice pallet can be with drawer
The slice handling system and pathological section scanner of the pallet-free frame lifting gear of formula push-and-pull.
Background technology
Pathologic finding is the Pathomorphology method for the pathological change being used to check in biological organs, tissue or cell.For
Inquire into organ, the lysis that tissue or cell are occurred, the method that certain Pathomorphology inspection can be used checks their institutes
The lesion of generation inquires into lesion Producing reason, pathogenesis, the occurrence and development process of lesion, finally makes pathological diagnosis.
The inspection method of Pathomorphology, looks first at the pathological change of gross specimen, then cuts a certain size pathological tissues, uses
Pathological section is made in histopathological methods, and lesion is further checked with microscope.
Pathologic finding has been widely used in clinical position and scientific research.It is substantially carried out the inspection of corpse pathology in clinicing aspect
It looks into and surgery Pathology inspection.The purpose of surgery Pathology inspection improves clinical first, in order to clarify a diagnosis and verify preoperative diagnosis
Diagnostic level；Second is that after diagnosis is clear, next step therapeutic scheme and estimating prognosis can be determined, and then improve clinical treatment water
It is flat.By Clinical and Pathological Analysis, a large amount of extremely valuable scientific research datas are also can get.
Traditional pathologic finding, using light microscope human eye microscopy, the experience and business water of the single doctor of heavy dependence
Flat, there are certain probability of false detection, and not only detection efficiency is low, and tissue sample preserve and carry it is very inconvenient, to remote
The journey consultation of doctors causes very big obstacle.The pathological section scanner occurred in recent years, avoid traditional histotomy it is frangible, preserve at
This height, not Portable belt the defects of, greatly facilitate the consultation of doctors, and also allow for by software to pathological tissue carry out data processing,
Qualitative analysis, quantitative analysis, this is exploitation and the intelligent diagnostics of remote diagnosis platform（Auxiliary）The research and development of system are laid a good foundation.
Pathological section scanner in the prior art its be sliced automatic assembling and disassembling system mostly use application No. is
Application No. is more slice loading systems of CN201320478999.1 for the push rod cooperation of CN201210411328.3, are held in the palm by rotating
Slice box is replaced in the rotation of disk, is directed at slice to be measured one by one by lifting gear and push rod and is pushed into front of objective table
Mouthful, which is retracted to the former slice slot of former slice box after the end of scan.So the complete cargo handling process of slice does not have including three sections
There is overlapping step：Slice scanned on objective table is moved back to the former slice slot of former slice box by T1-；T2- adjustment is cut
The position of film magazine makes new slice alignment objective table front entrance；New slice to be scanned is moved into objective table by T3-.
A piece of slice is complete " sweep time " in the prior art, and actually some time is consumed the three of handling
In a step, really 70-80% is accounted for the time that camera is scanned；And due to being sliced frivolous frangible feature, charge and discharge operations
All too urgent too fast slice cannot be caused damaged in order to avoid generating improper thrust, improper thrust is it is also possible that scanning platform is unbalance, therefore
Existing handling system is difficult to compress the time used in these three steps.On the other hand, in order to ensure pathological section scanning height
Resolution ratio and the full visual field, under existence conditions, it is also difficult to shorten the time that camera is really scanned.
Invention content
The purpose of the application is in view of the above problems, providing a kind of efficient slice handling system and efficient pathological section
Scanner.
The slice handling system of the application, including：Tray rack, pallet, tray drive and sucker manipulator；Pallet is set
There is the mounting groove of several accommodating trays, the opening for the disengaging of each pallet is provided on front side of tray rack, pallet is equipped with several put
Set the position of slice；The tray drive drives pallet to remove tray rack from above-mentioned opening one by one（With will be on the pallet
Slice is exposed in the operating space of sucker manipulator）Be moved back to original position；Sucker manipulator takes and discharges slice, in microoptic
Slice is transported between the objective table of system and the pallet for removing tray rack, traverses all slices to be scanned.The slice of the application
Handling system does not need to lifting tray frame, but is respectively provided with opening for each pallet, and the pallet for removing tray rack is to want
Carry out the pallet of charge and discharge operations.In this case, the movement travel of sucker manipulator is long, and motion path is also more complicated, but is sliced
Handling system no longer needs tray rack lifting gear, the stability of system also more preferable.
Due to being taken and discharge slice using sucker manipulator, be sliced will not as the prior art long range direct and
Be sliced slot or objective table upper surface slide contact generate friction, and sucker manipulator drive the gentle vertical and straight movement of section water it
Outside, additionally it is possible to drive slice to rotate predetermined angle around center, compared to the prior art in the forms such as push rod pull rod machine
The sucker manipulator service speed of tool hand, the application is fast and more flexible.
In view of the centre of slice is tissue sample, to prevent the coverslip of pollution covering tissue sample, also for holding
The balance of slice, it is preferred that there are two cupule heads for sucker machinery hand strap, draw the both ends of slice respectively.
Preferably, pallet is equipped with location structure, and tray drive is equipped with auxiliary section, when the cooperation of tray drive
When portion is fastened with the location structure on pallet, tray drive drives pallet that original position is removed or be moved back to from tray rack.
Preferably, pallet includes dismountable pallet inner core, and the pallet inner core is equipped with several positions for placing slice,
The part that the main part of pallet is especially contacted with tray rack may be used more firm wear-resisting material, and pallet inner core
The softer material of lightweight may be used, to mitigate the weight of entire pallet, and buffering can be played to the slice of glass material
Effect.It is further preferred that under the premise of ensureing enough support strengths, the main part especially bottom of the pallet can be with
Part hollow out, to mitigate the weight of pallet.
Preferably, it is respectively set and loads sucker manipulator and unloading sucker manipulator, unload sucker manipulator by objective table
Upper scanned slice is transported to pallet, substantially simultaneously, it loads sucker manipulator and transports slice to be scanned on pallet
To objective table.The charge and discharge operations time of monolithic slice in this way can halve.
The difference that position is put back to according to unloading slice, can be divided into three kinds of situations.
（1）Unloading slice puts back to the original position of former pallet.In this case loading pallet frame need not be respectively set and unload
The position for carrying tray rack, and placing slice each of on each pallet can accommodate slice, but unload each pallet
Last a piece of slice when, charging manipulator need to wait for the handover operation of unloading operation and pallet after the completion of, could carry out
The loading operation being newly sliced.
（2）Loading pallet frame and unloading tray rack is respectively set, loading sucker manipulator will wait sweeping on loading pallet frame
The slice retouched is transported to objective table, substantially simultaneously, slice scanned on objective table is transported to by unloading sucker manipulator
Unload the pallet on tray rack.In this case, when unloading the last a piece of slice of each pallet, loading operation can also be with
The basic progress simultaneously of unloading operation, the switching of loading pallet and unloading pallet completely can be sliced scan during into
Row, will not additional holding time.This set makes the component count for being sliced handling system increase, and volume increases.
（3）It is sliced in cargo handling process, the slice of unloading is placed into the slice newly loaded position original on pallet.It is this
In the case of, it can ensure that the operation for loading new slice and unloading slice all carries out on the same slice pallet always, then unloading
Operation is carried just without waiting for switching pallet, and the handover operation of pallet can be carried out being sliced the during scanned, will not additionally be accounted for
Use the time；And loading pallet frame and unloading tray rack need not also be respectively set in this case.Under full-load conditions, no
How many pallet is managed, first placement that the last a piece of slice of the last one pallet is placed into first pallet need to only be cut
The position of piece not will increase the volume of handling system, but the slice for passing through charge and discharge operations can all change position.
The pathological section scanner of the application, including micro optical system and above-mentioned slice handling system.
It should be noted that mentioned in the application slice scanning when, slice handling when, answer broad sense be interpreted as slice fill
Unload operation or scan operation start before, even just start when starting after a period of time in, not strict requirements
While being sliced charge and discharge operations or scan operation carries out；Almost simultaneously, also answer broad sense to be interpreted as can mutually staggering
For a period of time rather than the strict requirements time is completely the same.
The slice handling system and pathological section scanner of the application can not only reach the skill for reducing the slice lay day
Art effect, and it is sliced capacity bigger, it is compact-sized, it is suitble to the large batch of pathological section of automatic business processing.
Description of the drawings
Fig. 1 is the stereogram of the slice handling system of the application first embodiment；
Fig. 2 is the schematic diagram that three section sliding rails pull out state in the application 3rd embodiment；
Fig. 3 and Fig. 4 is the schematic diagram that two section sliding rails and pallet pull out state in the application fourth embodiment.
10- objective tables, 20- tray racks, 30- pallets, 31- pallet inner cores, 32- location structures, 33- place the position of slice
It sets, 34- sliding limitation structures, 60- tray drives, the auxiliary sections 61-, 100- slices, 200- drawer sliding rails, 201- outer rails,
202- internal rails, 203- internal rail sliding slots.
Specific implementation mode
Illustrate technical scheme of the present invention in order to clearer, below in conjunction with attached drawing to the specific implementation mode of the present invention
It is described.
The first embodiment of the application is as shown in Figure 1, the slice handling system of the application includes：Tray rack 20, pallet 30
Sucker manipulator and tray drive 60；Tray rack 20 is equipped with the mounting groove of several accommodating trays, is provided on front side of tray rack
For the opening of each pallet disengaging；Pallet 30 is equipped with several positions for placing slice；The tray drive 60 drives one by one
Dynamic pallet removes tray rack from above-mentioned opening（The slice on the pallet to be exposed in the operating space of sucker manipulator）And shifting
It returns in situ；Sucker manipulator take and discharge slice 100, micro optical system objective table and remove tray rack pallet it
Between transport slice, traverse all slices to be scanned.Under normal circumstances, sucker manipulator will be in the objective table of micro optical system
Scanned slice is transported on the pallet for removing tray rack on 10, and by slice to be scanned on the pallet for removing tray rack
It is transported to objective table.Due to that can be lifted in tray rack lifting gear driving lower tray, and the pallet of height aligned openings removes
Tray rack is to carry out the pallet of charge and discharge operations, therefore lifting tray frame can switch each pallet.
Due to being taken and discharge slice using sucker manipulator, be sliced will not as the prior art long range direct and
Be sliced slot or objective table upper surface slide contact generate friction, and sucker manipulator drive the gentle vertical and straight movement of section water it
Outside, additionally it is possible to drive slice to rotate predetermined angle around center, compared to the prior art in the forms such as push rod pull rod machine
The sucker manipulator service speed of tool hand, the application is fast and more flexible.
In view of the centre of slice is tissue sample, to prevent the coverslip of pollution covering tissue sample, also for holding
The balance of slice, it is preferred that there are two cupule heads for sucker machinery hand strap, draw the both ends of slice respectively.
Preferably, as shown in figure 3, pallet is equipped with location structure, tray drive is equipped with auxiliary section, when pallet drives
When location structure 32 on the auxiliary section and pallet of device fastens, tray drive drives pallet to remove or move from tray rack
It returns in situ.
Preferably, as shown in figure 3, pallet includes dismountable pallet inner core 31, the pallet inner core 31 is equipped with several
Place the position of slice, the part that the main part of pallet is especially contacted with tray rack may be used more firm wear-resisting
Material, and the softer material of lightweight may be used in pallet inner core, to mitigate the weight of entire pallet, and can be to glass material
Slice play cushioning effect.It is further preferred that under the premise of ensureing enough support strengths, the main part of the pallet
Especially bottom can part hollow out, to mitigate the weight of pallet.
It is further preferred that the pallet inner core is sliced dedicated sheet of drying in the air, such pathological section system using Hospital Pathological Department
After the completion of piece, if directly sheet can will be dried in the air from the pallet that the rear openings of tray rack are inserted into tray rack equipped with dry chip,
To dispense the step for being transferred to slice on pallet one by one from sheet of drying in the air again, reduce the workload of medical worker.
The second embodiment of the application differs only in and loading is respectively set in second embodiment compared with first embodiment
Slice scanned on objective table is transported to pallet by sucker manipulator and unloading sucker manipulator, unloading sucker manipulator,
Substantially simultaneously, it loads sucker manipulator and slice to be scanned on pallet is transported to objective table.The handling of monolithic slice in this way
Operating time can halve.
The difference that position is put back to according to unloading slice, can be subdivided into three kinds of situations.
（1）Unloading slice puts back to the original position of former pallet.In this case loading pallet frame need not be respectively set and unload
The position for carrying tray rack, and placing slice each of on each pallet can accommodate slice, but unload each pallet
Last a piece of slice when, charging manipulator need to wait for the handover operation of unloading operation and pallet after the completion of, could carry out
The loading operation being newly sliced.
（2）Loading pallet frame and unloading tray rack is respectively set, loading sucker manipulator will wait sweeping on loading pallet frame
The slice retouched is transported to objective table, substantially simultaneously, slice scanned on objective table is transported to by unloading sucker manipulator
Unload the pallet on tray rack.In this case, when unloading the last a piece of slice of each pallet, loading operation can also be with
The basic progress simultaneously of unloading operation, the switching of loading pallet and unloading pallet completely can be sliced scan during into
Row, will not additional holding time.This set makes the component count for being sliced handling system increase, and volume increases.
（3）It is sliced in cargo handling process, the slice of unloading is placed into the slice newly loaded position original on pallet.It is this
In the case of, it can ensure that the operation for loading new slice and unloading slice all carries out on the same slice pallet always, then unloading
Operation is carried just without waiting for switching pallet, and the handover operation of pallet can be carried out being sliced the during scanned, will not additionally be accounted for
Use the time；And loading pallet frame and unloading tray rack need not also be respectively set in this case.Under full-load conditions, no
How many pallet is managed, first placement that the last a piece of slice of the last one pallet is placed into first pallet need to only be cut
The position of piece not will increase the volume of handling system, but the slice for passing through charge and discharge operations can all change position.
In order to ensure that the slice on pallet is all exposed to sucker manipulator operating space, drawer sliding rail is required to supporting bracket
Disk is fully removed tray rack.As shown in Fig. 2, the difference of the slice handling system of the 3rd embodiment and first embodiment of the application
It is only that, drawer sliding rail is using the box-like three sections sliding rail of specific group of outer rail --- internal rail --- outer rail, its left side of intermediate internal rail 202
Right both sides opposite with outer rail 201 can be slided, and the outer rail of both sides is separately fixed at the left and right sidewall of tray rack and a left side for pallet
On right side wall.Sliding rails directly are not saved using common three, is to need three layers of nesting to be arranged because of three common section sliding rails, sliding rail
Width is wider compared with two section sliding rails, same to be sliced the highly desirable higher of capacity subiculum plate rail, therefore is sliced the height of handling system
It can higher.And the combined type three of this optimization is used to save sliding rail, the width and length of sliding rail not will increase, entire tray rack
Left and right width also only somewhat increases, it will be able to all be exposed to the slice on pallet in the operating space of sucker manipulator.
Preferably, above-mentioned drawer sliding rail is ball guide, to reduce the friction between sliding rail.
As shown in Figure 3 and Figure 4, different only the existing of the fourth embodiment of the application and the slice handling system of 3rd embodiment
In drawer sliding rail 200 is fixed on using two section sliding rails, the outer rail 201 of drawer sliding rail 200 in the left and right sidewall of tray rack, and interior
The internal rail sliding slot 203 that the sliding limitation structure 34 at left and right sides of for pallet is slided is opened up on rail 202, in the internal rail of drawer sliding rail
When opposite outer rail slides into distalmost end, can also further it be slided by the opposite of internal rail 202 of pallet 30 and drawer sliding rail
Make pallet further away from tray rack 20, to provide the operation and installation space of bigger to manipulator.
The 5th embodiment of the application further includes setting with differing only in for the slice handling system of first embodiment
Slice transfer platform near objective table, the transfer platform are equipped with the waiting position for accommodating slice to be scanned and scanned cut
The unloading position of piece.
Sucker manipulator executes following operation until traversing all slices to be scanned successively：
1）If there is slice on objective table, slice to be scanned is transported to the waiting position of transfer platform；If nothing is cut on objective table
Slice to be scanned is directly transported to objective table by piece, the new slice to be scanned that continues to take be transported to transfer platform etc.
Wait for position；
2）The slice is transported to the unloading position of transfer platform when the slice on objective table is scanned；
3）The slice to be scanned on position is waited for be transported to objective table transfer platform；
4）Transfer platform is unloaded into the scanned slice on position and is shipped back pallet, return to step 1）.
As a result of transfer platform, sucker manipulator only short distance need to transport slice between transfer platform and objective table,
And the remote-controlled operation that slice is transported between transfer platform and pallet can carry out during scan slice, no longer additionally account for
With the time, to drastically reduce the time for replacing slice, especially when manipulator uses XYZ type linear module drive modes
When, timesaving effect becomes apparent.
The sixth embodiment of the application is a kind of pathological section scanner, including micro optical system and the handling of above-mentioned slice
System.
It should be noted that mentioned in the application slice scanning when, slice handling when, answer broad sense be interpreted as slice fill
Unload operation or scan operation start before, even just start when starting after a period of time in, not strict requirements
While being sliced charge and discharge operations or scan operation carries out；Almost simultaneously, also answer broad sense to be interpreted as can mutually staggering
For a period of time rather than the strict requirements time is completely the same.In the application, when being sliced charge and discharge operations, pallet removes tray rack
Direction is defined as the front side of tray rack, and opposite direction is defined as the rear side of tray rack.
The slice handling system and pathological section scanner of the application can not only reach the skill for reducing the slice lay day
Art effect, and it is sliced capacity bigger, it is compact-sized, it is suitble to the large batch of pathological section of automatic business processing.
Above-mentioned each specific embodiment and its preferred embodiment can be combined with each other in the absence of conflict, various to obtain
The technical solution of combination.For example, pallet includes dismountable pallet inner core, pallet inner core dries in the air using Hospital Pathological Department slice is dedicated
Sheet is applicable in other embodiments；Transfer platform and operating method in 5th embodiment are also applied for other implementations
Example.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the general of this field
For logical technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, appoint made by
What modification, equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of slice handling system, it is characterised in that including：
Tray rack, pallet, tray drive and sucker manipulator；
Tray rack is equipped with the mounting groove of several accommodating trays, and the opening for the disengaging of each pallet is provided on front side of tray rack；
Pallet is equipped with several positions for placing slice；
The tray drive drives pallet to remove tray rack from above-mentioned opening and be moved back to original position one by one；
Sucker manipulator is taken and discharges slice, is transported between the objective table and the pallet for removing tray rack of micro optical system
Slice traverses all slices to be scanned.
2. slice handling system according to claim 1, which is characterized in that there are two suckers for the sucker machinery hand strap
Head draws the both ends of slice respectively.
3. slice handling system according to claim 1, which is characterized in that the pallet includes in dismountable pallet
Core, the pallet inner core are that pathological section dries in the air sheet.
4. slice handling system according to claim 1, which is characterized in that slided by drawer between the tray rack and pallet
Rail is connected.
5. slice handling system according to claim 4, which is characterized in that the drawer sliding rail is successively by outer rail-internal rail-
Outer rail is composed, and the left and right sides of intermediate internal rail opposite with outer rail can be slided, and the outer rail of both sides is separately fixed at support
In the left and right sidewall of plate rail and the left and right sidewall of pallet.
6. slice handling system according to claim 1, which is characterized in that pallet is equipped with location structure, the pallet
Driving device is equipped with auxiliary section, and when the location structure on the auxiliary section and pallet fastens, tray drive drives pallet
Original position is removed or is moved back to from tray rack.
7. slice handling system according to claim 1, which is characterized in that be respectively set and load sucker manipulator and unloading
Slice on objective table is transported on the pallet for removing tray rack by sucker manipulator, unloading sucker manipulator, substantially simultaneously,
It loads sucker manipulator and the slice on the pallet for removing tray rack is transported to objective table.
8. being sliced handling system according to claim 1-7 any one of them, which is characterized in that further include that setting is attached in objective table
Close slice transfer platform, the transfer platform are equipped with the unloading of the waiting position and scanned slice that accommodate slice to be scanned
Position.
9. in a kind of claim 8 slice handling system operating method, which is characterized in that sucker manipulator execute successively with
Lower operation is until traverse all slices to be scanned：
1）If without slice on objective table, slice to be scanned is directly transported to objective table, new to be scanned cut of continuing to take
Piece is transported to the waiting position of transfer platform；If there is slice on objective table, by slice to be scanned be transported to transfer platform etc.
Wait for position；
2）The slice is transported to the unloading position of transfer platform when the slice on objective table is scanned；
3）The slice to be scanned on position is waited for be transported to objective table transfer platform；
4）Transfer platform is unloaded into the scanned slice on position and is shipped back pallet, return to step 1）.
10. a kind of pathological section scanner, which is characterized in that described in micro optical system and claim any one of 1-8
Slice handling system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810238762.3A CN108387518A (en) | 2018-03-22 | 2018-03-22 | The slice handling system and pathological section scanner of pallet-free frame lifting gear |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810238762.3A CN108387518A (en) | 2018-03-22 | 2018-03-22 | The slice handling system and pathological section scanner of pallet-free frame lifting gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530864A (en) * | 2019-08-30 | 2019-12-03 | 武汉呵尔医疗科技发展有限公司 | A kind of continuous film-supply system |
| CN116593464A (en) * | 2023-05-23 | 2023-08-15 | 丽水瑞联医疗科技有限公司 | Pathological section scanner based on embedded control |
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