CN111307560A - Automatic urine cell staining device and control system - Google Patents
Automatic urine cell staining device and control system Download PDFInfo
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Abstract
The invention provides an automatic urine cell staining device and a control system, and belongs to the field of staining devices. The invention provides a moving part of an automatic urine cell staining device, which is used for grabbing a sample slide to move; a dye tank filled with dye; a cleaning tank filled with cleaning fluid; the drying tank is internally provided with a fan and is used for drying the sample slide; a platform part for feeding, reading and sealing; and a human-computer interaction device. The control system of the automatic urine cell staining device provided by the invention comprises a human-computer interaction module, a preprocessing module, an execution module and an information storage module. The device provided by the invention has the advantages of stable zero-speed stop, high response speed, simple structure, low cost, simple hardware composition, more convenient development due to the fact that rich software is arranged in the usable PC, high code universality and transportability, and extremely high reliability due to quick start. The system provided by the invention modularizes and sufficiently decouples the system, and improves the usability and maintainability of the system.
Description
Technical Field
The invention relates to an automatic urine cell staining device and a control system, and belongs to the field of staining devices.
Background
At present, a non-invasive diagnostic cue for early renal injury in diabetes is the occurrence of proteinuria in diabetic patients. Proteinuria can occur in both glomerular and tubular injury due to nonspecific proteinuria detection. More importantly, proteinuria levels do not correlate significantly with the extent of kidney damage, and diagnosis of diabetic nephropathy still relies on invasive kidney biopsy. Therefore, exploring effective early diagnosis, disease evolution detection technology and early intervention measures is a development trend of future domestic and foreign research. Renal epithelial detachment can theoretically be detected in urine, and they all become a marker of diabetes mellitus combined with renal injury. Since the renal tubular epithelium is easily damaged by factors such as drugs, glomerular injury is the main factor in the early stage of diabetes. The process of kidney injury in diabetic patients is accompanied by loss of glomerular podocytes. Podocytes are present only in the glomerulus, so a specific marker of glomerular injury is the presence of podocytes in the urine. Therefore, the technology for detecting the podocyte detachment through urine becomes a non-invasive key technology for judging the renal injury in the early stage of diabetes. However, most of the traditional podocyte detection technologies use podocalyxin molecules for labeling, then doctors count local cells under a microscope, and finally, the total number of the cells is calculated. The method is easily interfered by various factors, for example, the whole dyeing process is manually completed, so that the dyeing time is different, the other components in urine cannot be eliminated to carry out cell dyeing and quantitative analysis, the result has no objectivity and reliability, the method cannot be clinically popularized and applied, and the research on the molecular mechanism of the shedding of the epithelial cells of the kidney is hindered.
At present, the mainstream method for diagnosing diabetic kidney injury patients in China is a urine cell staining analysis method, and urine cells in urine sediments of patients are stained by the method, made into a slide and placed under a microscope for analysis. This method also requires the use of urine cell staining techniques. The staining of the cell specimen is an important auxiliary means for medical diagnosis, and has important help for improving the accuracy of diagnosis.
The traditional artificial dyeing (such as HE dyeing and the like) is time-consuming and labor-consuming, and has complex dyeing steps and small dyeing amount. In many domestic large hospitals, especially in comprehensive hospitals, the quantity of slides for pathological diagnosis is large, and the defects caused by artificial staining are particularly prominent. Due to different individual operation habits of medical staff, the accuracy of dyeing duration control is inconsistent, which causes the consistency difference of dyeing pieces and causes certain influence on the diagnosis of doctors.
In the prior art, Ganping et al of Chongqing medical university has designed a cell slide dyeing machine by using a single chip microcomputer technology, which can support an HE dyeing method and a gram dyeing method, and the slide treatment efficiency is about ten slides at a time.
In addition, most of domestic cell staining agents are stained in batches, namely, a serial staining algorithm is adopted. The advantage of adopting the serial dyeing scheme is obvious, and the dyeing precision can be guaranteed to the greatest extent, and the scheme is simple to realize and has low cost. However, the serial dyeing algorithm has the disadvantage of low efficiency, and the dyeing process can only process 300-600 pieces of dyed slices in one machine. However, in some large hospitals, thousands of pathological sections are collected from patients every day, which causes a great burden on medical staff.
Disclosure of Invention
The invention aims to solve the problem of poor dyeing stability in the prior art, and provides an automatic urine cell dyeing device and a control system, which are used for realizing the processes of dyeing, cleaning, blow-drying and mounting a sample slide.
The invention provides an automatic urine cell staining device, which is characterized by comprising: the moving part is used for grabbing the sample slide to move; a dye tank filled with dye; a cleaning tank filled with cleaning fluid; the drying tank is internally provided with a fan and is used for drying the sample slide; a platform part for feeding, reading and sealing; and a human-computer interaction device for a user to input data or receive and display data fed back by the moving part, wherein the moving part comprises: the right-angle robot is provided with a three-axis robot arm with a gripper and is used for gripping the sample slide to move; the servo system is used for driving the right-angle robot; and the motion controller is used for controlling the servo system.
The automatic urine cell staining device provided by the invention can also have the following characteristics: wherein, dyestuff filter equipment is equipped with to dyestuff groove lower part, and dyestuff filter equipment is arranged in filtering the solid impurity in the dyestuff, avoids it to get into the dyestuff inslot.
The automatic urine cell staining device provided by the invention can also have the following characteristics: wherein, platform portion includes: the slide feeding platform is used for placing an unstained sample slide by a user; the mounting platform is used for placing the dyed sample slide; and the slide reading platform is used for placing the sealed sample slide.
The automatic urine cell staining device provided by the invention can also have the following characteristics: wherein, dye groove, washing tank, blow dry groove, platform portion, removal portion all set up in a airtight bin, and airtight bin passes through exhaust fan and external intercommunication.
The automatic urine cell staining device provided by the invention can also have the following characteristics: wherein, three-axis machine arm includes: an X-axis robot arm; the Y-axis robot arm is perpendicular to and connected with the X-axis robot arm in a sliding manner and has a function of moving along the extending direction of the X-axis robot arm; z axle machine arm, it is perpendicular with X axle machine arm, with perpendicular and sliding connection of Y axle machine arm, the function of the motion of Y axle machine arm extending direction and Z axle machine arm extending direction is followed simultaneously to having, wherein, Z axle machine arm bottom has the slide tongs, X axle machine arm, Y axle machine arm, the both ends of Z axle machine arm all are provided with photoelectric sensor, the surface of Y axle machine arm and Z axle machine arm all is provided with the lens except the position department that is provided with photoelectric sensor, after the lens triggered corresponding photoelectric sensor, photoelectric sensor sent the signal to the motion control ware, the motion control ware received the corresponding machine arm of control and stopped the motion after the signal.
The invention also provides a urine cell automatic staining control system, which is realized based on any one of the urine cell automatic staining devices, and has the characteristics that: the device comprises a human-computer interaction module, a preprocessing module, an execution module and an information storage module, wherein the human-computer interaction module is used for inputting parameters by a user and receiving data fed back by the execution module, the preprocessing module is used for processing the parameters, the execution module is used for controlling the execution of dyeing operation, and the information storage module is used for recording data including a dyeing scheme, a dye vat position, running data of a sample slide and motion data of a robot arm.
In the automatic urine cell staining control system provided by the invention, the automatic urine cell staining control system can further have the following characteristics: wherein, man-machine interaction module includes: the input module is used for selecting a dyeing mode and inputting a dyeing scheme by a user; and the output module is used for receiving the data fed back by the execution module and displaying the dyeing condition of the sample slide and relevant parameters of the system in the operation process.
In the automatic urine cell staining control system provided by the invention, the automatic urine cell staining control system can further have the following characteristics: the preprocessing module is used for executing a scheduling algorithm, calculating the waiting time of the sample slide and operating the executing module.
In the automatic urine cell staining control system provided by the invention, the automatic urine cell staining control system can further have the following characteristics: the scheduling algorithm is a dyeing scheduling algorithm with priority on precision, and the dyeing scheduling algorithm with priority on precision comprises the following procedures: s1, initializing the global time registry, and going to step S2; s2, reading the dyeing queue input by the user, judging whether each element in the dyeing queue conflicts with the time slot registered in the time registry after being input, if so, entering the step S3, otherwise, entering the step S4; s3, registering the time period occupied by the conflicting elements into a time registry, summing the delay time calculated in each step to obtain the waiting time t, recalculating the time registry according to the waiting time t, and returning to the step S2; s4, executing dyeing operation according to the time registry, and entering the step S5 after the dyeing operation is completed; s5, whether all dyeing steps are finished is judged, if yes, the flow is ended, and if no, the flow goes to step S2.
In the automatic urine cell staining control system provided by the invention, the automatic urine cell staining control system can further have the following characteristics: wherein, the execution module includes: the motion control module is used for controlling the moving part of the automatic urine cell staining device; the data transmission module is used for reading and updating the data in the information storage module and feeding back the dyeing result to the man-machine interaction module; and the timer module is used for timing the dyeing duration of the sample slide, when the slide reaches the preset dyeing duration in the dye vat, the timer module box execution module sends an ascending signal, and the execution module takes out the sample slide.
Action and Effect of the invention
The automatic urine cell staining device comprises a servo motor, a servo driver, a three-axis robot arm and a motion controller. Therefore, the invention has the advantages of stable zero-speed stop, high response speed, simple structure, low cost, simple hardware composition, convenient development due to the fact that rich software is arranged in the usable PC, high code universality and transportability, and extremely high reliability in quick start.
According to the automatic urine cell staining control system, the human-computer interaction module, the preprocessing module and the execution module are arranged, so that the automatic urine cell staining control system follows the design concept of top-down and gradual refinement, modularizes and fully decouples the system, and improves the usability and maintainability of the system.
Drawings
FIG. 1 is a sectional view of an automatic urine cell staining apparatus according to example 1 of the present invention;
FIG. 2 is a side view of an automatic urine cell staining apparatus according to example 1 of the present invention;
FIG. 3 is a plan view of an automatic urine cell staining apparatus according to example 1 of the present invention;
FIG. 4 is an architectural diagram of an automatic urine cell staining control system according to embodiment 2 of the present invention;
FIG. 5 is a flowchart of a precision-first staining scheduling algorithm of the automatic urine cell staining control system according to embodiment 2 of the present invention;
FIG. 6 is a flowchart showing the operation of the automatic urine cell staining control system according to embodiment 2 of the present invention;
FIG. 7 is a graph of the average latency variation of experiment one in the test example of the present invention;
FIG. 8 is a graph showing the average waiting time variation of experiment two in the test example of the present invention;
FIG. 9 is a graph illustrating the efficiency improvement trend of the first experiment according to the present invention;
FIG. 10 is a graph illustrating the efficiency improvement trend of the second experiment according to the present invention;
FIG. 11 is a graph showing the average staining precision of experiment one in the test example of the present invention; and
FIG. 12 is a graph showing the average staining precision of experiment two in the test example of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is specifically described below by combining the embodiment and the attached drawings.
< example 1>
FIG. 1 is a sectional view of an automatic urine cell staining apparatus according to example 1 of the present invention. FIG. 2 is a side view of the automatic urine cell staining apparatus according to example 1 of the present invention. FIG. 3 is a plan view of an automatic urine cell staining apparatus according to example 1 of the present invention.
As shown in fig. 1 to 3, an automatic staining apparatus for urine cells includes: a moving part 10, a dye tank 20, a cleaning tank 30, a blow-drying tank 40, a platform part 50, an interpersonal interaction device 60 and a closed chamber 70.
The moving part 10 includes a right-angle robot 11, a servo system (not shown in the figure), and a motion controller (not shown in the figure).
The right-angle robot 11 includes an X-axis robot arm 111, a Y-axis robot arm 112, and a Z-axis robot arm 113.
The X-axis robot arm 111 is connected with the Y-axis robot arm 112 in a sliding manner, and photoelectric sensors are arranged at two ends of the X-axis robot arm.
Y axle machine arm 112 is perpendicular and sliding connection with X axle machine arm 111, has the function of following X axle machine arm 111 extending direction motion, and both ends all are provided with photoelectric sensor, and the surface all is provided with the anti-dazzling screen except that the position department that is provided with photoelectric sensor.
Z axle machine arm 113 is perpendicular for with X axle machine arm 111, and is perpendicular and sliding connection with Y axle machine arm 112, has the function of moving along Y axle machine arm extending direction and Z axle machine arm extending direction simultaneously, and both ends all are provided with photoelectric sensor, and the surface all is provided with the shade except the position department that is provided with photoelectric sensor.
When the light shielding sheet triggers the corresponding photoelectric sensor, the corresponding photoelectric sensor sends a signal to the motion controller, and the motion controller receives the signal and controls the corresponding mechanical arm to stop moving.
The servo system is used for driving the right-angle robot 11 and comprises a servo motor and a servo driver.
In this embodiment, the servo system is a digital hybrid servo driver and a 57-series servo motor associated therewith. Wherein the digital hybrid servo driver adopts an ARM inheritance chip.
The motion controller adopts a special six-axis servo control system, the system adopts a CAN-BUS field BUS serial communication system, and the system CAN be used by connecting a plurality of plates in series. The motion controller is in communication connection with the interpersonal interaction device 60 in a serial port communication mode.
The dye trough 20 is arranged in an area which can be reached by a robot arm of the right-angle robot 11, and during actual use, at least one dye trough 20 can be provided, or a plurality of dye troughs can be provided. In the actual use process, the dye types are less than those of the dye tanks, and the redundant dye tanks can be left unused and are different.
The dye trough 20 includes: a dye filtering device 21, a dye tank body 22 and a dye filling pipeline (not shown in the figure). All the dye trough bodies 22 are provided with dye filtering devices 21 and dye filling pipelines (not shown in the figure) at the bottoms. The dye filtering device 21 is used for filtering solid impurities in the dye and preventing the solid impurities from entering the dye tank. When it is desired to fill the dye tank 20 with dye, dye enters from the dye filling pipe through the dye filtering device 21 into the dye tank main body 22.
The wash tank 30 is also located within the reach of the robot arm of the right-angle robot 11. In the actual use process, there may be at least one cleaning tank 30 or a plurality of cleaning tanks. In this embodiment, the number of the cleaning tanks 30 is 1, and the cleaning tanks are closely arranged on one side of the dye trough 20 close to the right-angle robot 11.
The blow-dry tank 40 is also arranged in the area accessible to the arm of the right-angled robot 11, inside which a fan is arranged. In actual use, there may be at least one or more blow-drying grooves 40. In this embodiment, the number of the blow-drying tanks 40 is 5, and the blow-drying tanks are arranged close to one side of the dye tank 20 close to the right-angle robot 11.
The platform part 50 includes a sheet feeding platform 51, a sheet sealing platform 52 and a sheet reading platform 53.
The slide feeding platform 51 is disposed in an area accessible to the robot arm of the right-angle robot 11, and is disposed adjacent to the staining trough 20 for the user to place an unstained sample slide.
The mounting platform 52 is positioned adjacent to the staining trough 20 in an area accessible to the robotic arm of the right angle robot 11 for placement of stained sample slides.
The slide reading platform 53 is arranged in the area accessible by the arm of the right-angle robot 11, next to the staining trough 20, for placing the specimen slides for the completed mounting.
The closed chamber 70 accommodates the dye tank 20, the cleaning tank 30, the blow-drying tank 40, the stage 50, and the moving unit 10 in the inner space thereof. The sealed chamber 70 is provided with an exhaust fan 71, and the exhaust fan 71 is used for ventilating with the external environment.
The human interaction device 60 is used for the user to input data or receive and display the data fed back by the moving part. In the present embodiment, the human interaction device 60 uses a touch screen operation panel.
< example 2>
FIG. 4 is an architecture diagram of an automatic urine cell staining control system according to embodiment 2 of the present invention.
As shown in fig. 4, an automatic urine cell staining control system includes a human-computer interaction module, a preprocessing module, an execution module, an information storage module, and a control module.
And the human-computer interaction module is used for inputting parameters by a user and receiving data fed back by the execution module. Specifically, in this embodiment, the human-computer interaction module includes: an input module and an output module.
The input module is used for a user to select a dyeing mode and input a dyeing scheme. In this embodiment, the dyeing mode is divided into two types, i.e., a debugging mode and an operating mode. In the debugging mode, the user can modify the dyeing sequence, the dyeing duration and the dye selection in the dyeing scheme in the interface, and can also modify the dye in each dyeing groove. And after the modification is finished, the input module transmits the modified data to the information storage module. And the information storage module refreshes data to complete data interaction. In the running mode, a user puts a slide sample into the slide feeding platform, selects a dyeing scheme in the input module, the input module transmits data to the execution module, and the execution module starts to execute a dyeing process and calls a subsequent module to process the data.
And the output module is used for receiving the data fed back by the execution module and displaying the dyeing condition of the sample slide and related parameters of the system in the running process so that a user can know the current dyeing condition. The relevant parameters include: the staining step performed by each set of slide samples, the total length of staining, and the waiting length of the slide samples to start entering the staining bath for staining.
The preprocessing module is used for executing a scheduling algorithm, calculating the waiting time of the sample slide and operating the executing module. In this embodiment, the preprocessing module includes a queue design module and a start module.
The queuing design module functions as a user to bring a new set of slides Q to be stainedKAfter the glass slide is put into the dyeing device, the queuing queue design module starts to operate according to a dyeing scheduling algorithm, and Q is calculated according to the existing dyeing slide in the dyeing tankKWhen to start dyeing can avoid the collision of the dye vat position with the slide already in the dye vat, and can improve the parallel dyeing efficiency to the maximum extent. And returning a waiting time t after the calculation of the dyeing scheduling algorithm, wherein the waiting time t represents that the group of dyeing pieces can enter the dyeing tank for dyeing after t unit time lengths are required to be waited.
If a plurality of groups of dyeing pieces are to be dyed, a queue is needed to store the groups of dyeing pieces. In order to save memory space to the greatest extent, the queuing queue selects a ring queue. The circular queue is an end-to-end first-out data structure, and adopts a linear array space. Assuming that the array size of the circular queue is MAX, its head element is q [0] and its tail element is q [ MAX-1 ]. Since the queue is circular, if the head pointer is head and the tail pointer is tail, the head or tail can be rotated back to the 0 position by equations 1 and 2.
head ═ head% MAX (formula 1)
tail ═ tail% MAX (formula 2)
In order to record the waiting time of the dyeing piece in the queue, a timer T is also set to record the waiting time. And when the waiting time length reaches t, taking out the queue head element, and putting the queue head element into a starting module for execution.
In the present embodiment, the staining scheduling algorithm uses a staining scheduling algorithm (accuracy-first scheduling algorithm), which is abbreviated as AFS algorithm. The algorithm is a dynamic scheduling algorithm, i.e. if the staining process has already started, but a new stained slide is added, the algorithm calculates the time delay for which the staining can be performed in the cell. When the time is up, the slide will begin to stain, and the staining process of the previously placed slide is not affected.
Fig. 5 is a flowchart of a precision-first staining scheduling algorithm of the urine cell automatic staining control system in embodiment 2 of the present invention.
As shown in fig. 5, the precision-first dyeing scheduling algorithm includes the following processes:
s1, initializing the global time registry, and going to step S2;
s2, reading the dyeing queue input by the user, judging whether each element in the dyeing queue conflicts with the time slot registered in the time registry after being input, if so, entering the step S3, otherwise, entering the step S4;
s3, registering the time period occupied by the conflicting elements into a time registry, summing the delay time calculated in each step to obtain the waiting time t, recalculating the time registry according to the waiting time t, and returning to the step S2;
s4, executing dyeing operation according to the time registry, and entering the step S5 after the dyeing operation is completed;
s5, whether all dyeing steps are finished is judged, if yes, the flow is ended, and if no, the flow goes to step S2.
The starting module is used for reading the first step of the slide staining scheme after a group of slides to be stained are placed in the slide feeding platform and informing the execution module of executing the staining step.
The execution module is used for controlling the execution of the dyeing operation and comprises a timer module, a data transmission module and a motion control module.
The timer module has the main function of recording the dyeing time of the dyeing tank where the slide is in the current dyeing step. The timer module has k timers corresponding to the dye baths one to one. Suppose there are k timers with numbers T1、T2、……、TkThere are k dye baths corresponding to the positions, the numbers of which are C1、C2、……、Ck. When the motion control module clamps the slide into the slide C1When in the slot, the timer module writes the dyeing duration in the slot into the slot and writes the dyeing duration into the slot C1Corresponding timer T1And activating T1And starting timing. When T is1After the timing reaches the set time length, T1Will generate a rising edge signal to inform the motion control module to C1The slot is clamped with a slide. In the same way, TkAnd CkThe process is also followed.
The motion control module is used for controlling the operation of the three-axis robot arm. Due to the adoption of the excellent motion controller, the three-axis robot arm is controlled in the embodiment only by transmitting the running speed, the running direction and the number of running points to the three right-angle robots respectively representing the x axis, the y axis and the z axis as parameters. The operation flow of the robot arm comprises the steps of firstly reading data of a target position in the information storage module, then comparing the coordinate of the target point with the current coordinate position, and calculating the difference value as the number of points to be operated by the robot arm. And writing the number of running points, the movement speed and the running direction into the mechanical arm. It is then necessary to determine whether the robot arm is moving the slide from the slide holderAnd taking out the slide from the dyeing groove position reaching the dyeing time, or putting the slide into a new dyeing groove position for dyeing. If the slide is placed in a new dyeing groove for dyeing, a dyeing groove position C is also needed to be arrangedkCorresponding timer TkAnd start TkAnd timing. And finally, starting the robot arm to perform the operation of clamping or placing the slide.
The data transmission module is used for reading and updating the data in the information storage module so that the robot arm can read correct data and feeding back the dyeing result to the man-machine interaction module.
The information storage module is used to record data including staining protocols, dye bath locations, sample slide operational data, and robotic arm motion data. In this embodiment, the information storage module is disposed in the memory area of the motion controller.
The dyeing scheme is stored in the ROM area, and specific data comprises slot positions and dyeing duration, wherein each storage unit is 2 bytes.
The slot positions are stored in the ROM area, storing the x, y, z coordinates of each slot, 2 bytes per cell.
Run data for the sample slide is stored in the RAM area, recording the x, y, z coordinates of the slide currently in the bath, the staining mode and the staining procedure performed, 2 bytes per cell.
The motion data of the robot arm is stored in the RAM area, and x, y and z coordinates of a target slide to be grabbed by the robot arm, a dye vat label to be placed next and dyeing time are recorded.
The motion data of the robot arm is the core of the whole data transmission. All data streams are eventually written to a motion data block, the data for that block being transferred to the robotic arm, which operates on the slide according to the data.
The dye vat position is mainly used for inquiring the position coordinates of the dye vat position in the dyeing scheme table, because the position coordinates of the dye vat position are not stored in the dyeing scheme table. The separation design is also used for avoiding influencing the position coordinates of the dyeing groove and reducing the complexity of operation when the dyeing scheme is updated.
Run number of sample slidesThe recording table stores the position coordinates of all slides currently in the dye vat, the staining protocol selected and the staining steps performed. When a certain slide is in the dye vat position CkWhen it reaches its dyeing time, TkA rising edge signal is generated and the data log is run to write the position of the slide into the motion data block, informing the robot arm to remove the slide.
The dyeing protocol records the pit number for each step of a certain dyeing protocol and the length of time the dye is in that pit. Because the coordinate position of the dye vat position is not recorded, the coordinate information needs to be checked back in the dye vat position table according to the dye vat position number, and the data are respectively written into the motion data block and the running data recording table. And the data is written in at the moment that the robot arm clamps the slide and puts the slide into a new dyeing slot before dyeing. The data is written into the motion data of the robot arm so as to provide the robot arm with the position information of the target dye slot. Data is written to the run data of the specimen slide in order to update the information of the current slide in the dye bath.
The control module is used for controlling the human-computer interaction module, the preprocessing module, the execution module and the information storage module to execute operations.
Fig. 6 is a flowchart of the operation of the automatic urine cell staining control system according to embodiment 2 of the present invention.
As shown in fig. 6, the operation flow of the urine cell automatic staining control system includes the following steps:
and S1, initializing. After the automatic urine cell staining control device is started, some important components and IO (input/output) of the automatic urine cell staining control device are initialized, wherein the initialization includes mapping of IO, initialization of an interpersonal interaction device, initialization of global variables in a staining motion control system and a scheduling algorithm and the like, and the step S2 is carried out;
s2, mode selection: the urine cell staining control system has two operation modes, namely a debugging mode and an operation mode. In the debugging mode, the user can set parameter values of different dyeing schemes, modify dye liquor in a dye vat or customize an individualized dyeing scheme. The user can test the dyeing effect by using the debugging mode so as to find the dyeing parameter value which can achieve the best dyeing precision. In the operation mode, the user can only select the set dyeing scheme, and the step S3 is entered;
s3, executing a scheduling algorithm, calculating slide wait time: the scheduling algorithm is mainly used for ensuring the dyeing precision of each group of dyeing pieces and the dyeing efficiency of the system when a plurality of groups of dyeing pieces need to be dyed simultaneously, and the step S4 is carried out;
s4, judging whether the slide reaches the waiting time, if yes, entering the step S5, otherwise, entering the step S5 after waiting for the slide to reach the waiting time;
s5, a robot arm clamps the dyeing piece for dyeing: the robot arm performs a staining operation on the cell slide according to the staining scheme selected by the user, and the step S6 is performed;
s6, judging whether dyeing is finished, if so, entering the step S7, otherwise, returning to the step S5;
s7, outputting a dyeing result: and when the dyeing process of a group of slides is completely finished, returning the dyeing result to the human interaction device and displaying the result to the user.
< test example >
The urine cell natural staining apparatus of example 1, in which the system provided in example 2 was installed, was subjected to performance test.
The test indexes are average waiting time, dyeing efficiency improvement rate and actual dyeing precision respectively.
The calculation formula of the average waiting time is as follows:
in the formula, t1Represents the moment at which the slide is placed in the chamber to be stained, t2Representing the moment at which staining began.
The calculation formula of the dyeing efficiency improvement rate is as follows:
in the formula, TserialIndicates that under the serial dyeing, all the dyeingsTotal time for the piece to complete the staining procedure. T isafsRepresents the total dyeing time for the AFS algorithm to complete all dyeing steps.
The calculation formula of the actual dyeing precision is as follows:
wherein the average stroke duration of the mechanical arm is α, the movement time of the z-axis is a constant and is β,
respectively representing the travel time for taking the slide in the x-axis and the y-axis,
the travel times, T, for placing slides on the x-axis and y-axis, respectivelyiRepresents the theoretical dyeing duration of step i.
The test is completed by two experiments, and the experimental parameters are as follows:
the variables in the experiment that influence the experimental results are the staining protocol and the number of groups of slides. Although the placement time interval of the slide group is not fixed in actual cases, in order to investigate the performance data of the algorithm in the case of different degrees of parallelism, in the present experiment, the placement time interval of the slide group was set to 0 s. In the two-time group experiment, in order to investigate the influence of the increase in the number of slides on the staining results with the staining protocol and the slide group placement time interval fixed, the number of slides was increased from 2 groups up to 8 groups, and the experiment was performed separately. Two groups of control groups, namely a serial dyeing algorithm and an efficiency priority dyeing algorithm, are set in the two experiments, and the experimental group is an AFS algorithm. The dyeing results of the two dyeing algorithms are compared with the dyeing results using the AFS algorithm, and then the performance indexes of the two dyeing algorithms are calculated and analyzed, so that the final conclusion is obtained.
In experiment one, the same staining scheme is adopted, namely the same staining scheme is adopted for all the glass slide groups, and the staining scheme is a modified Papanicolaou staining method.
In the second experiment, different dyeing schemes are adopted, and four dyeing schemes are selected. These four staining protocols were modified papanicolaou staining, HE staining, modified gram bacteria staining and periodic acid schiff reaction (PAS), respectively.
The relevant parameters for experiment one and experiment two are given in tables 1-6, respectively.
TABLE 1 modified Papanicolaou staining procedure
| Dyeing step | Name of dye liquor | Dye vat numbering | Dyeing duration (unit: s) |
| (1) | Distilled water | 1 | 120 |
| (2) | |
2 | 600 |
| (3) | Flushing with running |
9 | 100 |
| (4) | 0.25% dilute |
3 | 1O |
| (5) | Flushing with running |
9 | 100 |
| (6) | |
4 | 50 |
| (7) | Flushing with running |
9 | 100 |
| (8) | 95 |
5 | 100 |
| (9) | Flushing with running |
9 | 100 |
| (10) | |
6 | 200 |
| (11) | 95 |
5 | 15 |
| (12) | 100% |
7 | 5 |
| (13) | |
8 | 1O |
TABLE 2 dyeing procedure by HE dyeing method
| Dyeing step | Name of dye liquor | Dye vat numbering | Dyeing duration (unit: s) |
| (1) | |
2 | 200 |
| (2) | Flushing with running |
9 | 200 |
| (3) | 0.5% hydrochloric acid alcohol | 10 | 10 |
| (4) | Flushing with running |
9 | 200 |
| (5) | 0.5% ammonia water | 11 | 50 |
| (6) | Flushing with running |
9 | 200 |
| (7) | Distilled water | 1 | 200 |
| (8) | 0.5% eosin water | 12 | 250 |
| (9) | Distilled water | 1 | 20 |
| (10) | 80% alcohol | 13 | 20 |
| (11) | 95 |
5 | 20 |
| (12) | |
7 | 100 |
| (13) | |
8 | 300 |
TABLE 3 modified gram stain procedure
TABLE 4 dyeing procedure by periodic acid Schiff reaction (PAS)
| Dyeing step | Name of dye liquor | Dye vat numbering | Dyeing duration (unit: s) |
| (1) | Distilled water | 1 | 10 |
| (2) | 0.5% periodic acid | 19 | 600 |
| (3) | Distilled water | 1 | 10 |
| (4) | |
20 | 600 |
| (5) | Flushing with running |
9 | 600 |
| (6) | Hary hematoxylin | 21 | 100 |
| (7) | Flushing with running |
9 | 200 |
| (8) | 95 |
5 | 20 |
| (9) | |
7 | 100 |
| (10) | |
8 | 300 |
TABLE 5 slide staining protocol selection sequence
| Slide set number | Staining protocol selection |
| Group 1 | Improved papanicolaou |
| Group | |
| 2 | HE |
| Group | |
| 3 | Improved |
| Group | |
| 4 | Periodic acid Schiff reaction method (PAS) |
| |
Improved papanicolaou |
| Group | |
| 6 | HE |
| Group | |
| 7 | Improved |
| Group | |
| 8 | Periodic acid Schiff reaction method (PAS) |
TABLE 6 dye vat coordinate points
The x-axis motion speed of the three-axis robot arm is set to 2000 points/second, the y-axis motion speed is set to 3000 points/second, the values of acceleration and deceleration are set to 10000 points/second, the acceleration and deceleration are large, and the influence of the acceleration and deceleration on the running time is negligible in order to reduce the complexity of calculation and experiment, the time β for the z-axis slide gripping is a fixed value and is set to 6s, and the average stroke duration α of the robot arm is set to 20 s.
The experimental procedure was as follows:
s1 shows the operation of the dyeing apparatus using the tandem dyeing algorithm, the operation of the dyeing apparatus using the efficiency-priority dyeing algorithm, and the operation of the dyeing apparatus using the AFS algorithm, respectively. The input values are a staining scheme, a slide placing time interval and the number of slide groups;
and S2, calculating the performance indexes of the three algorithms according to the experimental result.
FIG. 7 is a graph of the average latency variation of experiment one in the test example of the present invention. FIG. 8 is a graph showing the average waiting time variation of experiment two in the test example of the present invention.
As shown in fig. 7, for the same staining protocol, the average slide waiting time using the serial staining algorithm and the AFS algorithm is a linearly increasing trend as the degree of parallelism increases. However, from the slope k, the slope k of the serial staining algorithm1885.0 slope k of AFS Algorithm2Is 350.0, k2Is significantly less than k1. Therefore, compared with the serial dyeing algorithm, the AFS algorithm can be observed from the side, and the dyeing efficiency is obviously improved.
For the dyeing algorithm with priority on efficiency, due to a special preemption mechanism, under the condition of high parallelism, the dyeing algorithm discards previous tasks one by one and only executes the last task. This results in the previous staining task exhibiting a "completed" state at the algorithmic level, with an average slide wait time of 0, but not actually performed. The same applies also in the case of different staining protocols.
As shown in fig. 8, the slide mean wait times of the serial staining algorithm and the AFS algorithm also show a nearly linear increasing trend with the parallelism, but are not a standard linear function, for different staining protocols. The average slide waiting time of the AFS algorithm is significantly less than that of the serial staining algorithm with the same degree of parallelism. Obviously, the efficiency of the AFS algorithm is greatly improved compared with that of the serial dyeing algorithm by using different dyeing schemes.
Fig. 9 is a graph illustrating the efficiency improvement trend of the first experiment according to the present invention. Fig. 10 is a graph illustrating the efficiency improvement trend of the second experiment in the test example of the present invention.
As shown in fig. 9, the efficiency improvement degree of the AFS algorithm gradually increases as the parallelism improves. But this lift is not infinite. The derivation of the calculation formula of the dyeing efficiency improvement rate can obtain that when the parallelism approaches infinity, the dyeing efficiency improvement rate is calculated as follows:
where n represents the parallelism, i.e. the number of slide groups. k is a radical of1Representing the slope, k, of a linear function of the total duration of the serial staining2The slope of the linear function of the AFS algorithm is shown, and c represents the total length of the actual staining time of the modified Papanicolaou staining method. K can be calculated from FIG. 91、k2And c have values of 1770, 700 and 1770, respectively, and k is1、k2Band of values of cBy entering the above formula, the value of v obtained is 152.86%. Namely, for the improved Papanicolaou staining method, the staining efficiency improvement rate of the AFS algorithm can be stabilized to be about 152.86% along with the improvement of the parallelism.
As shown in fig. 10, the efficiency improvement rate of the AFS algorithm shows a trend of rising fluctuation as the degree of parallelism rises. However, this fluctuating rise is not endless, as is the efficiency increase with the same dyeing scheme, but it also stabilizes at a certain value δ. The size of delta is related to the selection of the staining protocol and the staining sequence. However, it is undeniable that AFS algorithm has a great improvement in dyeing efficiency compared to the serial dyeing algorithm in the case of using different dyeing schemes.
FIG. 11 is a graph showing the average staining precision of experiment one in the test examples of the present invention. FIG. 12 is a graph showing the average staining precision of experiment two in the test example of the present invention.
As shown in fig. 11 to 12, since the influence of the robot arm stroke time on the dyeing accuracy is not considered, the average dyeing accuracy of the serial dyeing algorithm is always 1, i.e., the accuracy is 100%. For the efficiency-first dyeing algorithm, the dyeing precision is continuously reduced along with the improvement of the parallelism because the prior dyeing task is abandoned.
After research, when the same dyeing scheme is adopted, because the distribution of dyeing slots is concentrated, the movement stroke duration of a robot arm is shorter and generally smaller than the average stroke duration α of the robot arm, so that the precision has certain deviation.
Effects and effects of the embodiments
The automatic urine cell staining apparatus according to embodiment 1 has a servo motor, a servo driver, a three-axis robot arm, and a motion controller. Therefore, the method has the advantages of stable zero-speed stop, high response speed, simple structure, low cost, simple hardware composition, more convenient development due to the fact that abundant software is built in the usable PC, high code universality and portability, and extremely high reliability in quick start.
According to the automatic urine cell staining control system related to the embodiment 2, because the system is provided with the human-computer interaction module, the preprocessing module and the execution module, the embodiment follows the design concept of top-down and gradual refinement, modularizes and sufficiently decouples the system, and improves the usability and maintainability of the system.
Further, according to the automatic urine cell staining control system in embodiment 2, because the preprocessing module employs the AFS algorithm, which uses time registration as a core and is implemented by using a backtracking method, the present embodiment can ensure the staining precision well and improve the staining efficiency greatly.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (10)
1. The utility model provides an automatic staining device of urine cell for realize the process that sample slide includes dyeing, washing, weathers, mounting, its characterized in that includes:
the moving part is used for grabbing the sample slide to move;
a dye tank filled with dye;
a cleaning tank filled with cleaning fluid;
the drying tank is internally provided with a fan and is used for drying the sample slide;
a platform part for feeding, reading and sealing; and
a man-machine interaction device for inputting data by a user or receiving and displaying the data fed back by the moving part,
wherein the moving part includes:
the right-angle robot is provided with a three-axis robot arm with a gripper and is used for gripping the sample slide to move;
the servo system is used for driving the right-angle robot;
and the motion controller is used for controlling the servo system.
2. The automatic urine cell staining apparatus according to claim 1, wherein:
wherein the lower part of the dye trough is provided with a dye filtering device,
the dye filtering device is used for filtering solid impurities in the dye and preventing the solid impurities from entering the dye groove.
3. The automatic urine cell staining apparatus according to claim 1, wherein:
wherein the platform part includes:
the slide feeding platform is used for placing an unstained sample slide by a user;
the mounting platform is used for placing the dyed sample slide; and
and the slide reading platform is used for placing the sealed sample slide.
4. The automatic urine cell staining apparatus according to claim 1, wherein:
wherein the dye trough, the cleaning trough, the blow-drying trough, the platform part and the moving part are all arranged in a closed cabin,
the closed bin is communicated with the outside through an exhaust fan.
5. The automatic urine cell staining apparatus according to claim 1, wherein:
wherein the three-axis robot arm comprises:
an X-axis robot arm;
the Y-axis robot arm is perpendicular to and connected with the X-axis robot arm in a sliding mode and has a function of moving along the extending direction of the X-axis robot arm;
a Z-axis robot arm perpendicular to the X-axis robot arm, perpendicular to the Y-axis robot arm, and slidably connected to the X-axis robot arm, and having a function of moving in both a Y-axis robot arm extending direction and a Z-axis robot arm extending direction,
wherein the bottom end of the Z-axis robot arm is provided with a slide gripper,
photoelectric sensors are arranged at two ends of the X-axis robot arm, the Y-axis robot arm and the Z-axis robot arm,
the outer surfaces of the Y-axis robot arm and the Z-axis robot arm are provided with light shields except the position where the photoelectric sensor is arranged,
and when the light shielding sheet triggers the corresponding photoelectric sensor, the photoelectric sensor sends a signal to the motion controller, and the motion controller receives the signal and controls the corresponding mechanical arm to stop moving.
6. An automatic urine cell staining control system, which is implemented based on the automatic urine cell staining apparatus according to any one of claims 1 to 5, and which comprises:
a human-computer interaction module, a preprocessing module, an execution module and an information storage module,
wherein, the human-computer interaction module is used for inputting parameters by a user and receiving data fed back by the execution module,
the preprocessing module is used for processing the parameters,
the execution module is used for controlling the execution of the dyeing operation,
the information storage module is used for recording data including a dyeing scheme, a dye vat position, the running data of the sample slide and the motion data of the robot arm.
7. The automatic urine cell staining control system according to claim 6,
wherein, the human-computer interaction module includes:
the input module is used for selecting a dyeing mode and inputting a dyeing scheme by a user; and
and the output module is used for receiving the data fed back by the execution module and displaying the dyeing condition of the sample slide and relevant parameters of the system in the operation process.
8. The automatic urine cell staining control system according to claim 6,
the preprocessing module is used for executing a scheduling algorithm, calculating the waiting time of the sample slide and operating the executing module.
9. The automatic urine cell staining control system according to claim 8,
wherein the scheduling algorithm is a dyeing scheduling algorithm with priority on precision,
the dyeing scheduling algorithm with the priority precision comprises the following procedures:
s1, initializing the global time registry, and going to step S2;
s2, reading the dyeing queue input by the user, judging whether each element in the dyeing queue conflicts with the time slot registered in the time registry after being input, if so, entering the step S3, otherwise, entering the step S4;
s3, registering the time period occupied by the conflicting elements into a time registry, summing the delay time calculated in each step to obtain the waiting time t, recalculating the time registry according to the waiting time t, and returning to the step S2;
s4, executing dyeing operation according to the time registry, and entering the step S5 after the dyeing operation is completed;
s5, whether all dyeing steps are finished is judged, if yes, the flow is ended, and if no, the flow goes to step S2.
10. The automatic urine cell staining control system according to claim 6,
wherein the execution module comprises:
the motion control module is used for controlling the moving part of the automatic urine cell staining device;
the data transmission module is used for reading and updating the data in the information storage module and feeding back the dyeing result to the man-machine interaction module; and
and the timer module is used for timing the dyeing duration of the sample slide, and when the slide reaches the preset dyeing duration in the dye vat, the timer module box execution module sends an ascending signal and the execution module takes out the sample slide.
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Application publication date: 20200619 |