CN111281443B - ESD sample automatic processing equipment and method - Google Patents
ESD sample automatic processing equipment and method Download PDFInfo
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- CN111281443B CN111281443B CN202010173914.3A CN202010173914A CN111281443B CN 111281443 B CN111281443 B CN 111281443B CN 202010173914 A CN202010173914 A CN 202010173914A CN 111281443 B CN111281443 B CN 111281443B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/70—Cleaning devices specially adapted for surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
Abstract
The invention provides an automatic ESD specimen processing device and method. The invention provides an ESD sample automatic processing device, comprising: placing an ESD pathological sample on the sample tray; shooting an ESD pathological sample image by a main camera; the auxiliary camera shoots a working image of the mechanical arm; the mechanical arm is provided with a rotating shaft, the rotating shaft is connected with the flywheel knife, the mechanical arm drives the rotating shaft and the flywheel knife to move, the rotating shaft is used for adjusting the direction of the flywheel knife, and the flywheel knife is used for cutting the ESD pathological specimen; the cutter washing pool is used for washing the wheel cutter; the control unit controls the mechanical arm and the rotating shaft to drive the flywheel knife to move according to the cutting line so as to cut the ESD pathological sample; the display unit displays parameter information of the ESD pathological specimen and a mechanical arm working image. The invention improves the accuracy standardization and the material drawing efficiency of ESD specimen material drawing, and doctors do not need to contact the ESD specimen in the whole cutting process, thereby greatly reducing the probability of specimen infection of the doctors and effectively protecting the safety of the doctors.
Description
Technical Field
The invention relates to a pathological specimen processing technology, in particular to automatic ESD specimen processing equipment and method.
Background
ESD (endoscopic mucosal dissection), a standard method for examining early cancers in the digestive tract, and ESD pathological specimen tissue sampling is a strict and standard requirement for sampling specimens. Not only need carry out detailed standard description to the form, the size and the dimensions of sample tissue, perimeter area colour, pathological change position, draw the restoration picture of sample tissue, take a picture and keep a shelves, carry out the accurate cutting of standard and draw materials to sample tissue more, the doctor of being convenient for accurately finds out pathological change position and is very important to patient's later stage treatment. Therefore, the requirements for the material taking of the ESD pathological samples are very accurate and standard.
At present, most of domestic ESD pathological sample tissue materials are manually described, measured and cut, the material taking speed is low, the description is not standard, and the cutting thickness is not uniform. The ESD pathological specimen is cut into strips at intervals of 2-3 mm when the ESD pathological specimen is taken. The current ESD pathological specimen has the following defects: 1) the description, measurement and photographing of the ESD pathological sample and the cutting of the ESD pathological sample are separate operations. 2) The width of the cut specimen is not uniform, the specimen is unsafe, and the specimen taking speed is slow. 3) The blade needs to be cleaned manually. 4) The ESD specimen restoration image needs to be manually made, and a skilled material-taking doctor can finish the operation within 40 minutes, so that the operation is not standard, and time and labor are wasted.
Disclosure of Invention
The invention provides automatic ESD specimen processing equipment, which can automatically control a mechanical arm to cut an ESD specimen, save labor, improve the material taking efficiency, ensure that the automatic control cutting is more accurate and standard, improve the accuracy standardization and the material taking efficiency of the ESD specimen material taking, ensure that an operator does not need to contact the ESD specimen in the whole cutting process, greatly reduce the probability of infection of the operator by the specimen and effectively protect the safety of the operator. The present invention provides an automatic ESD specimen processing apparatus, including:
the system comprises a specimen tray, a main camera, an auxiliary camera, a mechanical arm, a knife washing pool, a control unit and a display unit;
the sample tray is used for placing an ESD pathological sample;
the main camera is used for shooting the ESD pathological specimen to obtain an ESD pathological specimen image;
the auxiliary camera is used for shooting the mechanical arm to obtain a working image of the mechanical arm;
the mechanical arm is provided with a rotating shaft, the rotating shaft is connected with the wheel cutter, the mechanical arm drives the rotating shaft and the wheel cutter to move, the rotating shaft is used for adjusting the direction of the wheel cutter, and the wheel cutter is used for cutting the ESD pathological specimen;
the knife washing tank is used for washing the wheel knife;
the control unit is used for determining parameters of the ESD pathological sample according to the ESD pathological sample image, acquiring a cutting line, controlling the mechanical arm and the rotating shaft to drive the flywheel knife to move according to the cutting line to cut the ESD pathological sample, and controlling the flywheel knife to be cleaned by the cutter cleaning pool;
and the display unit is used for displaying parameter information of the ESD pathological specimen and a working image of the mechanical arm.
Furthermore, the specimen tray is provided with a small hole, and an air suction disc is arranged below the small hole.
Further, the apparatus further comprises: an input unit for a user to draw a cutting line;
the input unit is also used for the user to input labels or characters.
Further, the display unit is specifically used for displaying the image of the ESD pathological specimen cut by the mechanical arm in real time.
Furthermore, the mechanical arm comprises an X-axis stepping motor, a Y-axis stepping motor and a Z-axis stepping motor, wherein the X-axis stepping motor is used for driving the flywheel knife to move on the X axis, the Y-axis stepping motor is used for driving the flywheel knife to move on the Y axis, and the Z-axis stepping motor is used for driving the flywheel knife to move on the Z axis.
Further, the cutter washing tank is used for containing cutter washing liquid, a water pipe is arranged at the bottom of the cutter washing tank and connected with a water inlet of a water pump, a water outlet of the water pump comprises a water spray head, and the cutter washing liquid flows out of the washing flywheel cutter from the water spray head;
the cutter washing pool is also provided with a waste cutter washing liquid storage tank and a new cutter washing liquid storage tank;
the waste cutter washing liquid storage tank is used for storing waste cutter washing liquid, and the new cutter washing liquid storage tank is used for storing cutter washing liquid;
the water outlet of the water pump comprises a first three-way electromagnetic valve, the water inlet of the water pump comprises a second three-way electromagnetic valve, the first end of the first three-way electromagnetic valve is connected with the water spray head, the second end of the first three-way electromagnetic valve is connected with the water outlet of the water pump, the third end of the first three-way electromagnetic valve is connected with the waste cutter washing liquid storage tank, the first end of the second three-way electromagnetic valve is connected with the cutter washing pool, the second end of the second three-way electromagnetic valve is connected with the water inlet of the water pump, and the third end of the second three-way electromagnetic valve is connected with the new cutter washing liquid storage tank;
the knife washing pool further comprises: a main control board;
and the main control board is used for controlling the first three-way electromagnetic valve and the second three-way electromagnetic valve.
Further, the cutter washing pool is also provided with a heating rod, a temperature sensor and a liquid level sensor;
the heating rod is used for heating the cutter washing liquid;
the temperature sensor is used for sensing the temperature of the cutter washing liquid;
the liquid level sensor is used for sensing the liquid level of the cutter washing liquid;
the main control board is also used for controlling the heating rod according to the temperature of the cutter cleaning liquid.
Further, be provided with the slide rail under the sample tray, the sample tray passes through slider and sliding rail connection, the slide rail motion can be followed to the tray, the slider passes through step motor drive.
The invention also provides an automatic ESD specimen processing method, which comprises the following steps:
acquiring an ESD pathological sample image;
acquiring a mechanical arm working image;
determining ESD pathological sample parameters according to the ESD pathological sample image;
acquiring a cutting line;
controlling the mechanical arm and the rotating shaft to move according to the cutting line to cut the ESD pathological sample;
displaying ESD pathological sample parameters and a mechanical arm working image;
optionally, before controlling the mechanical arm and the rotation axis to move according to the cutting line to cut the ESD pathology specimen, the method further includes:
the cutter washing pool is used for washing the flywheel cutter.
According to the automatic ESD specimen processing equipment, the control unit controls the mechanical arm and the flywheel knife, the camera acquires images, automatic cutting processing of the ESD specimen is achieved, manpower is saved, material taking efficiency is improved, cutting is more accurate and standard, a doctor does not need to contact the ESD specimen in the whole cutting process, the probability that the doctor is infected by the specimen is greatly reduced, and safety of the doctor is effectively protected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic ESD specimen processing apparatus according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first robot arm of an automatic ESD specimen processing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a knife washing tank of an automatic ESD specimen processing apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first embodiment of a specimen tray of an automatic ESD specimen processing apparatus according to the present invention;
fig. 5 is a schematic flow chart illustrating an ESD specimen automatic processing method according to an embodiment of the invention.
Reference numerals:
1-a specimen tray; 2-a main camera; 3-an auxiliary camera; 4-a mechanical arm; 5-a knife washing pool; 6-a control unit 6; 7-a display unit; 21-X axis stepper motor; 22-Y axis stepper motors; 23-Z axis stepper motors; 24-a wheel cutter; 25-a rotating shaft; 26-X shaft; 27-Y shaft; 28-Z shaft; 31-a water pipe; 32-a water pump; 33-sprinkler head 33; 34-a waste cutter-washing liquid storage tank 34; 35-a new knife washing liquid storage tank; 36-a first three-way solenoid valve; 37-a second three-way solenoid valve; 38-main control board; 39-heating rod; 40-a temperature sensor; 41-a liquid level sensor; 42-a cutter washing liquid replacing button; 43-a slide rail; 44-a specimen tray; 45-aperture; 46-a tray stepper motor; 47-slide block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
FIG. 1 is a schematic structural diagram of an automatic ESD specimen processing apparatus according to a first embodiment of the present invention; as shown in fig. 1, the apparatus of the present embodiment may include:
the system comprises a specimen tray 1, a main camera 2, an auxiliary camera 3, a mechanical arm 4, a knife washing pool 5, a control unit 6 and a display unit 7;
the specimen tray 1 is used for placing an ESD pathological specimen;
the main camera 2 is used for shooting an ESD pathological sample to obtain an ESD pathological sample image;
the auxiliary camera 3 is used for shooting the mechanical arm to obtain a working image of the mechanical arm;
the mechanical arm 4 is provided with a rotating shaft, the rotating shaft is connected with the flywheel knife, the mechanical arm drives the rotating shaft and the flywheel knife to move, the rotating shaft is used for controlling the direction of the flywheel knife, and the flywheel knife cuts the ESD pathological specimen;
the cutter washing pool 5 is used for washing the wheel cutters;
the control unit 6 is used for acquiring an ESD pathological sample image and determining ESD pathological sample parameters according to the ESD pathological sample image, the control unit 6 is also used for acquiring a cutting line and controlling the movement of the mechanical arm and the rotating shaft to cut the ESD pathological sample according to the cutting line, and the control unit 6 is also used for controlling the cutter washing pool to wash the wheel cutter;
and the display unit 7 is used for displaying parameter information of the ESD pathological specimen and a working image of the mechanical arm.
In this embodiment, the main camera and the sub-camera are used for taking pictures or recording videos. The main camera is used for shooting an ESD pathological sample image, and the control unit analyzes the shot ESD pathological sample image and determines ESD pathological sample parameters; specifically, the main camera shoots the image of the ESD pathology sample, the distance between the ESD pathology sample and the main camera lens is fixed, the focal length of the main camera lens is fixed, therefore, the magnification of the image of the ESD pathology sample is fixed, the size, the perimeter and the area of the actual sample can be measured through the image of the ESD pathology sample, and the image of the ESD pathology sample can be marked, described, photographed and restored to be manufactured and filed.
The control unit can obtain the image of the whole moving range of the mechanical arm from the auxiliary camera, and the process of cutting the ESD pathological sample by the mechanical arm can be observed on the display conveniently.
The control unit 6 can be software on an upper computer, namely the control unit can be a computer host.
In this embodiment, the flywheel knife can be driven by the rotating shaft to rotate 360 degrees.
In this embodiment, the ESD pathology specimen parameters include: the size, perimeter, and area parameters of the actual specimen.
In this embodiment, the control unit may further perform operations such as labeling, description, photographing, image restoration, and archiving on the ESD pathology specimen image.
Optionally, the apparatus further comprises: the apparatus further comprises: an input unit for a user to draw a cutting line;
the input unit is also used for the user to input labels or characters.
In this embodiment, the user may control specimen cutting by drawing a cutting line on the device.
In this embodiment, the cut money can be input through a mouse or a touch screen, and the characters can be input through a keyboard.
Optionally, the display unit is specifically used for displaying the image of the mechanical arm cutting ESD pathology specimen in real time.
This embodiment, through control unit control arm and flywheel sword, the camera acquires the image, realizes the automatic cutting of ESD sample and handles, has saved the manpower, has improved the efficiency of drawing materials, cuts more accurate and standard, and whole cutting process operation doctor all need not to contact the ESD sample, and the probability that the operation doctor is infected by the sample that has significantly reduced has effectually protected operation doctor's safety.
FIG. 2 is a schematic structural diagram of a first robot arm of an automatic ESD specimen processing apparatus according to an embodiment of the present invention; as shown in fig. 2, the robot arm includes:
the arm includes X axle step motor 21, Y axle step motor 22, Z axle step motor 23, X axle step motor 21 is used for driving flywheel sword 24 and moves at the X axle, Y axle step motor 22 is used for driving flywheel sword 24 and moves at the Y axle, Z axle step motor 23 is used for driving flywheel sword 24 and moves at the Z axle.
In this embodiment, the control unit can control the robot arm to move along the X-axis, the Y-axis, and the Z-axis, and at the same time, the control unit can control the rotation unit under the robot arm to rotate to adjust the direction of the flywheel knife.
In this embodiment, the apparatus further includes an X shaft 26, a Y shaft 27, and a Z shaft 28.
Wherein, flywheel sword 24 and rotation axis 25 are installed on the X axostylus axostyle, and X axle stepper motor is used for controlling the flywheel sword and removes in X axle direction, and Y axle stepper motor steerable X axostylus axostyle and flywheel sword remove along Y axle direction, and Z axle stepper motor steerable X axostylus axostyle and flywheel sword remove along Z axle direction.
In this embodiment, X axostylus axostyle and Y axostylus axostyle still include the hold-in range for the cooperation motor removes and corresponds the slider.
In this embodiment, arm and rotation axis are passed through hold-in range or lead screw drive by step motor. And both ends of the mechanical arm and the rotating shaft are provided with limit switches to protect the motor.
FIG. 3 is a schematic structural diagram of a knife washing tank of an automatic ESD specimen processing apparatus according to an embodiment of the present invention;
the knife washing pool in the embodiment is used for placing knife washing liquid, a water pipe 31 is arranged at the bottom of the knife washing pool, the water pipe is connected with a water inlet of a water pump 32, a water outlet of the water pump comprises a water spray head 33, and the knife washing liquid flows out of the water spray head to wash the flywheel knife;
the cutter washing pool is also provided with a waste cutter washing liquid storage tank 34 and a new cutter washing liquid storage tank 35;
the waste cutter-washing liquid storage tank 34 is used for storing waste cutter-washing liquid, and the new cutter-washing liquid storage tank 35 is used for storing cutter-washing liquid;
the water outlet of the water pump 32 comprises a first three-way electromagnetic valve 36, the water inlet of the water pump comprises a second three-way electromagnetic valve 37, the first end of the first three-way electromagnetic valve 36 is connected with the water spray head 33, the second end of the first three-way electromagnetic valve 36 is connected with the water outlet of the water pump 32, the third end of the first three-way electromagnetic valve 36 is connected with the waste cutter washing liquid storage tank 34, the first end of the second three-way electromagnetic valve 37 is connected with the cutter washing pool, the second end of the second three-way electromagnetic valve 37 is connected with the water inlet of the water pump, and the third end of the second three-way electromagnetic valve 37 is connected with the new cutter washing liquid storage tank 35;
the knife washing pool further comprises: a main control board 38;
and the main control board 38 is used for controlling the conduction of the first three-way electromagnetic valve 36 and the second three-way electromagnetic valve 37.
In this embodiment, the used knife washing liquid is used as the used knife washing liquid, and the knife washing liquid stored in the new knife washing liquid storage tank is used as the unused knife washing liquid.
In this embodiment, the knife washing pool is further provided with a heating rod 39, a temperature sensor 40 and a liquid level sensor 41;
the heating rod 39 is used for heating the cutter washing liquid;
the temperature sensor 40 is used for sensing the temperature of the cutter washing liquid;
the liquid level sensor 41 is used for sensing the liquid level of the cutter washing liquid;
the main control board 38 is further configured to control the heating rod according to the temperature of the cutter washing liquid and the liquid level of the cutter washing liquid.
The embodiment further comprises a cutter washing liquid replacing button 42, and the cutter washing liquid can be automatically replaced by pressing the cutter washing liquid replacing button 42. In this embodiment, the control unit may also control the replacement of the knife washing liquid. In this embodiment, the control unit may also be configured to discharge the knife washing liquid from the knife washing tank, and manually add the knife washing liquid to the knife washing tank. Or the cutter washing liquid in the cutter washing pool can be discharged by pressing a cutter washing liquid replacing button, and the cutter washing liquid is manually added into the cutter washing pool.
FIG. 4 is a schematic structural diagram of a first embodiment of a specimen tray of an automatic ESD specimen processing apparatus according to the present invention; as shown in fig. 4, a slide rail 43 is disposed under the specimen tray 44, the specimen tray 44 is connected to the slide rail through a slide block 47, the specimen tray 44 can move along the slide rail 43, and the slide block 43 is driven by a tray stepping motor 46.
In this embodiment, make the sample tray can make things convenient for the doctor to put into or take out the sample from the tray through setting up the slide rail, the removal of accessible the control unit control sample tray.
In this embodiment, be provided with aperture 45 on the sample tray, the aperture below is provided with air chuck for fixed ESD pathology sample prevents that ESD pathology sample from removing when the cutting.
In this embodiment, the working parts of the automatic ESD specimen processing apparatus, that is, the mechanical arm, the tray, and the knife washing tank can be isolated from the outside by a protective cover, and the protective cover can be controlled by the control unit to open or close, and can also be controlled by a button on the apparatus.
In this embodiment, the side walls may also include separate outlets for the removal and insertion of trays.
In this embodiment, a synchronous belt is further disposed below the slide rail 43 and is used for matching with the corresponding slide block moved by the motor.
FIG. 5 is a schematic flow chart illustrating a first embodiment of an automatic ESD specimen processing method according to the present invention; as shown in fig. 5, the method of this embodiment includes:
s101, obtaining an ESD pathological sample image;
s102, acquiring a mechanical arm working image;
s103, determining ESD pathological sample parameters according to the ESD pathological sample image;
s104, obtaining a cutting line;
s105, cutting the ESD pathological sample according to the movement of the cutting line control mechanical arm and the rotating shaft;
and S106, displaying the ESD pathological sample parameters and the mechanical arm working image.
In this embodiment, the sequence of steps is not limited, steps S101 and S102 are not necessarily executed in sequence, and the sequence may be interchanged, and S102 may also be after S105.
In this embodiment, the ESD pathology specimen image is obtained by the main camera 2 in fig. 1; the working image of the mechanical arm is obtained through the secondary camera 3 in fig. 1, and the image in this embodiment may be a photograph or a video, which is not specifically limited in this invention.
Optionally, before acquiring the ESD pathology specimen image, the method further includes:
controlling the specimen tray to move out so as to facilitate the user to put in the specimen;
controlling the specimen tray to move in.
Optionally, the method further includes:
the tray delivers the specimen.
Optionally, before controlling the mechanical arm and the rotation axis to move according to the cutting line to cut the ESD pathology specimen, the method further includes:
the cutter washing pool is used for washing the flywheel cutter.
An automatic ESD specimen processing method of the present embodiment corresponds to the method performed by the apparatus in the embodiment shown in fig. 1 to 4.
According to the automatic ESD specimen processing equipment, the control unit controls the mechanical arm and the flywheel knife, the camera acquires images, automatic cutting processing of the ESD specimen is achieved, manpower is saved, material taking efficiency is improved, cutting is more accurate and standard, a doctor does not need to contact the ESD specimen in the whole cutting process, the probability that the doctor is infected by the specimen is greatly reduced, and safety of the doctor is effectively protected.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An ESD specimen automatic processing apparatus, characterized by comprising:
the system comprises a specimen tray, a main camera, an auxiliary camera, a mechanical arm, a knife washing pool, a control unit and a display unit;
the sample tray is used for placing an ESD pathological sample;
the main camera is used for shooting the ESD pathological specimen to obtain an ESD pathological specimen image;
the auxiliary camera is used for shooting the mechanical arm to obtain a working image of the mechanical arm;
the mechanical arm is provided with a rotating shaft, the rotating shaft is connected with the wheel cutter, the mechanical arm drives the rotating shaft and the wheel cutter to move, the rotating shaft is used for adjusting the direction of the wheel cutter, and the wheel cutter is used for cutting the ESD pathological specimen;
the cutter washing tank is used for washing the wheel cutter;
the control unit is used for determining the parameters of the ESD pathological sample according to the ESD pathological sample image, acquiring a cutting line, controlling the mechanical arm and the rotating shaft to drive the flywheel knife to move according to the cutting line so as to cut the ESD pathological sample, and controlling the flywheel knife to be cleaned by the knife cleaning pool;
the display unit is used for displaying parameter information of the ESD pathological specimen and a working image of the mechanical arm;
the sample tray is provided with small holes, and air suction cups are arranged below the small holes;
the mechanical arm comprises an X-axis stepping motor, a Y-axis stepping motor and a Z-axis stepping motor, wherein the X-axis stepping motor is used for driving the flywheel knife to move on the X axis, the Y-axis stepping motor is used for driving the flywheel knife to move on the Y axis, and the Z-axis stepping motor is used for driving the flywheel knife to move on the Z axis;
the mechanical arm further comprises an X shaft lever, a Y shaft lever and a Z shaft lever;
the X-axis stepping motor is used for controlling the flywheel knife to move in the X-axis direction, the Y-axis stepping motor can control the X-axis shaft and the flywheel knife to move in the Y-axis direction, and the Z-axis stepping motor can control the X-axis shaft and the flywheel knife to move in the Z-axis direction;
the X shaft lever and the Y shaft lever also comprise synchronous belts which are used for matching with the motors to move the corresponding sliding blocks;
the mechanical arm and the rotating shaft are driven by a stepping motor through a synchronous belt or a lead screw, and two ends of the mechanical arm and the rotating shaft are provided with limit switches to protect the motor;
the cutter washing tank is used for containing cutter washing liquid, a water pipe is arranged at the bottom of the cutter washing tank and connected with a water inlet of a water pump, a water outlet of the water pump comprises a water spray head, and the cutter washing liquid flows out of the washing wheel cutter from the water spray head;
the cutter washing pool is also provided with a waste cutter washing liquid storage tank and a new cutter washing liquid storage tank;
the waste cutter washing liquid storage tank is used for storing waste cutter washing liquid, and the new cutter washing liquid storage tank is used for storing cutter washing liquid;
the water outlet of the water pump comprises a first three-way electromagnetic valve, the water inlet of the water pump comprises a second three-way electromagnetic valve, the first end of the first three-way electromagnetic valve is connected with the water spray head, the second end of the first three-way electromagnetic valve is connected with the water outlet of the water pump, the third end of the first three-way electromagnetic valve is connected with the waste cutter washing liquid storage tank, the first end of the second three-way electromagnetic valve is connected with the cutter washing pool, the second end of the second three-way electromagnetic valve is connected with the water inlet of the water pump, and the third end of the second three-way electromagnetic valve is connected with the new cutter washing liquid storage tank;
the knife washing pool further comprises: a main control board;
the main control board is used for controlling the first three-way electromagnetic valve and the second three-way electromagnetic valve;
the knife washing pool is also provided with a heating rod, a temperature sensor and a liquid level sensor;
the heating rod is used for heating the cutter washing liquid;
the temperature sensor is used for sensing the temperature of the cutter washing liquid;
the liquid level sensor is used for sensing the liquid level of the cutter washing liquid;
the main control board is also used for controlling the heating rod according to the temperature of the cutter cleaning liquid.
2. The apparatus of claim 1,
the apparatus further comprises: an input unit for a user to draw a cutting line;
the input unit is also used for the user to input labels or characters.
3. The apparatus of claim 1,
the display unit is specifically used for displaying an ESD pathological sample image cut by the mechanical arm in real time.
4. The apparatus of claim 1,
the slide rail is arranged below the specimen tray, the specimen tray is connected with the slide rail through a slide block, the tray can move along the slide rail, and the slide block is driven by the stepping motor.
5. An ESD specimen automatic processing method applied to the apparatus of claim 1, comprising:
acquiring an ESD pathological sample image;
acquiring a mechanical arm working image;
determining ESD pathological sample parameters according to the ESD pathological sample image;
acquiring a cutting line;
controlling the mechanical arm and the rotating shaft to move according to the cutting line to cut the ESD pathological sample;
and displaying the ESD pathological specimen parameters and the mechanical arm working image.
6. The method of claim 5,
before the control arm and rotation axis motion cut ESD pathology sample according to the cutting line, still include:
the cutter washing pool is used for washing the flywheel cutter.
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