CN111374713B - Chamber alignment calibration method for sample holder and biopsy device - Google Patents
Chamber alignment calibration method for sample holder and biopsy device Download PDFInfo
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- CN111374713B CN111374713B CN201811641900.9A CN201811641900A CN111374713B CN 111374713 B CN111374713 B CN 111374713B CN 201811641900 A CN201811641900 A CN 201811641900A CN 111374713 B CN111374713 B CN 111374713B
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- sample holder
- input conduit
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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
- A61B10/0266—Pointed or sharp biopsy instruments means for severing sample
- A61B10/0275—Pointed or sharp biopsy instruments means for severing sample with sample notch, e.g. on the side of inner stylet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The invention discloses a chamber alignment calibration method of a sample holder and a biopsy device, wherein the chamber alignment calibration method of the sample holder comprises the following steps: detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber; if not, controlling the input catheter or the sample holder to rotate in the reverse direction by a preset angle beta; controlling the input conduit or sample holder to continue rotating in the reverse direction while detecting that the trailing end of the input conduit is aligned with the inlet of the preceding chamber until rotation is stopped when the trailing end of the input conduit is aligned with the inlet of the preceding chamber; the input catheter or sample holder is controlled to rotate in the positive direction through an angle D1, D1 being 360/N, N being the total number of chambers in the sample holder. According to the chamber alignment calibration method of the sample holder, when the input catheter is aligned with the chamber, the phenomenon that sample collection is influenced due to misalignment caused by errors of the stepping motor and the like is avoided.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a chamber alignment calibration method of a sample holder and a biopsy device.
Background
Biopsy devices are used to biopsy soft tissue within a patient. Biopsy devices typically include a handle and a cutter mounted to the handle. The cutter comprises an inner cutter tube and an outer cutter tube sleeved outside the inner cutter tube, a sampling groove is radially formed in the front end of the outer cutter tube, soft tissue is sucked into the sampling groove under the action of negative pressure after the outer cutter tube penetrates into epidermis, the inner cutter tube is rotationally cut forwards to cut the soft tissue and accommodate the soft tissue in the front end of the inner cutter tube, and the soft tissue is sucked into a sample holder at the tail end of the cutter or the handle for temporary storage through negative pressure suction.
The earliest biopsy devices were provided with only a single chamber sample holder in which multiple tissue samples were mixed and could not be distinguished. In order to solve this problem, there is a biopsy device including a sample holder and an input catheter, which are relatively rotatable, the sample holder being provided with a plurality of chamber units to collect soft tissue into each chamber unit, respectively. The trailing end of the input conduit selectively communicates with the inlets of the plurality of chamber units upon relative rotation of the sample holder and the input conduit. Due to the error of the stepping motor and other reasons, the biopsy device is easy to cause the phenomenon that the tail end of the input conduit is misaligned with the inlet of the cavity unit, and the sample collection is influenced.
Disclosure of Invention
In view of the above-mentioned prior art, the present invention provides a chamber alignment calibration method for a sample holder and a biopsy apparatus, which can avoid the misalignment between the tail end of an input catheter and the inlet of a chamber unit caused by errors of a stepping motor.
In order to solve the above technical problem, the present invention provides a method for calibrating chamber alignment of a sample holder, comprising:
detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber;
if not, controlling an input conduit or a sample holder to rotate by a preset angle beta in the opposite direction, so that the tail end of the input conduit is positioned between the inlet of the current chamber and the inlet of the last chamber of the current chamber;
controlling the input conduit or sample holder to continue rotating in the reverse direction while detecting that the trailing end of the input conduit is aligned with the inlet of the preceding chamber until rotation is stopped when the trailing end of the input conduit is aligned with the inlet of the preceding chamber; the input catheter or sample holder is controlled to rotate in the positive direction through an angle D1, D1 being 360/N, N being the total number of chambers in the sample holder.
In one embodiment, the step of controlling the input catheter or the sample holder to continue rotating in the reverse direction further comprises:
detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or not simultaneously in the process of controlling the input conduit or the sample holder to rotate in the reverse direction by a preset angle beta;
stopping rotation when it is detected that the tail end of the input conduit is aligned with the inlet of the current chamber if the inlet of the current chamber has been detected before the rotation angle reaches the preset angle β;
if the entrance to the current chamber is not detected when the angle of rotation reaches a preset angle β, the step of controlling the input conduit or sample holder to continue rotating in the opposite direction is performed.
In one embodiment, the step of detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber comprises:
transmitting position detection light to the sample holder;
detecting a first reflected light reflected by a target position on the sample holder and a second reflected light reflected by a reference position;
judging whether the intensity difference or the ratio of the first reflected light to the second reflected light is consistent with a preset intensity difference or a preset intensity ratio;
if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
In one embodiment, the step of detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber comprises:
transmitting position detection light to the sample holder;
detecting first reflected light reflected by a target location on the sample holder;
judging whether the intensity of the first reflected light is consistent with a preset intensity;
if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
In one embodiment, the preset angle β has a value range of: the rotation error value < beta < 360/N.
The invention provides a biopsy device, comprising:
a sample holder assembly comprising a sample holder and an input conduit, the sample holder and the input conduit being relatively rotatable, the sample holder having a plurality of chambers disposed thereon and a plurality of inlets communicating with the plurality of chambers, respectively, the trailing end of the input conduit selectively communicating with the inlet of one of the chambers upon relative rotation of the sample holder and the input conduit;
a drive mechanism for driving rotation of the sample holder or the input conduit;
further comprising:
a position detector for detecting whether the trailing end of the input conduit is aligned with the inlet of the chamber;
a processor for controlling a driving mechanism to drive an input conduit or a sample holder to rotate in a reverse direction by a preset angle β when the tail end of the input conduit is detected to be misaligned with the inlet of a current chamber, so that the tail end of the input conduit is located between the inlet of the current chamber and the inlet of a previous chamber of the current chamber; controlling the drive mechanism to drive the input conduit or the sample holder to continue rotating in the reverse direction, and simultaneously controlling the position detector to detect whether the tail end of the input conduit is aligned with the inlet of the previous chamber, until the drive mechanism stops driving the input conduit or the sample holder to rotate in the reverse direction when the tail end of the input conduit is aligned with the inlet of the previous chamber; the control driving mechanism drives the input conduit or the sample holder to rotate by an angle D1 in the positive direction, wherein D1 is 360/N, and N is the total number of chambers of the sample holder.
In one embodiment, the processor is further configured to control the position detector to simultaneously detect whether the tail end of the input conduit is aligned with the inlet of the current chamber during the process of controlling the driving mechanism to drive the input conduit or the sample holder to rotate in the reverse direction by the preset angle β; if the position detector detects the inlet of the current chamber before the rotation angle reaches the preset angle beta, controlling the driving mechanism to stop driving the input conduit or the sample holder to rotate in the reverse direction when the position detector detects that the tail end of the input conduit is aligned with the inlet of the current chamber; if the position detector does not detect the inlet of the current chamber when the rotation angle reaches the preset angle beta, controlling the driving mechanism to drive the input conduit or the sample holder to continue to rotate in the reverse direction, and simultaneously controlling the position detector to detect whether the tail end of the input conduit is aligned with the inlet of the previous chamber or not until the tail end of the input conduit is aligned with the inlet of the previous chamber, and controlling the driving mechanism to stop driving the input conduit or the sample holder to rotate in the reverse direction; the control driving mechanism drives the input conduit or the sample holder to rotate by an angle D1 in the positive direction, wherein D1 is 360/N, and N is the total number of chambers of the sample holder.
In one embodiment, the position detector comprises an infrared sensor and an identification mark, the infrared sensor is arranged on the input conduit and rotates with the input conduit relative to the inlet, and the identification mark is arranged on one side of the inlet;
the infrared sensor is used for emitting position detection light to the sample holder, detecting first reflection light reflected by a target position on the sample holder and second reflection light reflected by a reference position, and feeding back a detection result to the processor;
and the processor compares the intensity difference value or the ratio of the first reflected light to the second reflected light with a preset intensity difference value or a preset intensity ratio, and judges whether the identification mark is detected, so that whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber is judged.
In one embodiment, the position detector comprises an infrared sensor and an identification mark, the infrared sensor is arranged on the input conduit and rotates with the input conduit relative to the inlet, and the identification mark is arranged on one side of the inlet;
the infrared sensor is used for emitting position detection light to the sample holder, detecting first reflection light reflected by a target position on the sample holder, and feeding back a detection result to the processor;
the processor compares the intensity of the first reflected light with a preset intensity, and judges whether the identification mark is detected, so that whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber is judged.
In one embodiment, the preset angle β has a value range of: the rotation error value < beta < 360/N.
The advantageous effects of the additional features of the present invention will be explained in the detailed description section of the present specification.
Drawings
FIG. 1 is a schematic view of a biopsy device according to one embodiment of the present invention;
FIG. 2 is a schematic view of a sample holder assembly of a biopsy device in one embodiment of the present invention;
FIG. 3 is a side view of a sample holder of the sample holder assembly in one embodiment of the invention;
FIG. 4 is a block diagram of a control system for a biopsy device in one embodiment of the present invention;
FIG. 5 is a flow chart of a method for chamber alignment calibration of a sample holder in one embodiment of the invention;
FIGS. 6 and 7 are views showing the alignment of the trailing end of the input conduit with the inlet of the chamber, wherein FIG. 6 shows the input conduit rotated excessively and FIG. 7 shows the input conduit rotated insufficiently;
FIG. 8 is a flow chart of a method for chamber alignment calibration of a sample holder in another embodiment of the invention;
FIG. 9 is a flowchart of the steps for detecting alignment of the trailing end of the input conduit with the inlet of the current chamber or the previous chamber in one embodiment of the present invention;
FIG. 10 is a flow chart illustrating the steps of detecting whether the trailing end of the input conduit is aligned with the inlet of the current chamber or the previous chamber in another embodiment of the present invention.
Description of reference numerals: 100. a biopsy device; 110. a handle; 111. a housing; 112. a tool driving device; 113. a sample holder; 1131. a chamber; 1132. identifying the mark; 1133. an inlet; 114. an input conduit; 115. a first connection assembly; 116. a second connection assembly; 117. an infrared sensor; 120. a cutter; 121. an outer cutter tube; 122. an inner cutter tube; 130. a knife handle; 210. a processor; 230. a position detector; 230. a position detector; 240. a display mechanism; 250. an alarm mechanism; 260. a drive mechanism.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
FIG. 1 illustrates a schematic view of a biopsy device 100 according to one embodiment of the present invention. As shown in fig. 1, the biopsy device 100 in this embodiment includes a cutter 120 and a handle 110, the handle 110 includes a housing 111, the cutter 120 includes an outer cutter tube 121, an inner cutter tube 122 and a handle 130, a puncture needle (not shown in the figure) is disposed at a front end of the outer cutter tube 121, a sampling slot (not shown in the figure) is radially disposed at a position of the outer cutter tube 121 close to the front end, and a rear end of the outer cutter tube 121 is fixedly mounted in a front end of the handle 130. The inner cutter tube 122 is disposed inside the outer cutter tube 121, and is rotatable and axially reciprocable relative to the outer cutter tube 121. The front end of the inner blade tube 122 has a blade for cutting tissue through the sampling slot, and the rear end of the inner blade tube 122 is inserted into the handle 130.
Fig. 2 is a schematic diagram of the structure of a sample holder assembly in one embodiment of the invention, and fig. 3 is a side view of sample holder 113 of the sample holder assembly in one embodiment of the invention. As shown in fig. 2 and 3, the sample holder assembly includes a sample holder 113 and an input conduit 114, the sample holder 113 has a first end portion near the inner knife tube 122 side and a second end portion opposite to the first end portion, a plurality of chambers 1131 for temporarily storing soft tissue are provided on the sample holder 113, a plurality of inlets 1133 respectively communicating with the plurality of chambers 1131 are provided on an end surface of the first end portion of the sample holder 113, and the plurality of inlets 1133 are arranged at intervals in a circumferential direction. The input duct 114 is rotatable along the rotation axis L, the head end of the input duct 114 is connected to the rear end of the inner cutter tube 122 via a first connecting assembly 115, and the tail end of the input duct 114 is connected to the inlets 1133 of the plurality of chambers 1131 via a second connecting assembly 116. The rotation of the input conduit 114 about the rotation axis L selectively connects the inner knife tube 122 to the inlet 1133 of one chamber 1131 of the sample holder 113, so that the tissue samples sampled at each time are respectively stored in different chambers 1131 for differentiation. Alternatively, the input conduit 114 is stationary and the sample holder 113 is rotated about the rotation axis L. As long as relative rotation of the input conduit 114 and the sample holder 113 is achieved.
FIG. 4 is a block diagram of a control system of biopsy device 100 in one embodiment of the present invention. As shown in fig. 4, the control system comprises a processor 210, a position detector 230, and a drive mechanism 260, wherein the drive mechanism 260 is configured to drive the input conduit 114 or the sample holder 113 to rotate about the rotation axis L. In the present embodiment, the input conduit 114 rotates about the rotation axis L, taking the example that the sample holder 113 is fixed.
The position detector 230 is used to detect whether the trailing end of the input conduit 114 is aligned with the inlet 1133 of the chamber 1131 of the sample holder 113. By way of example, position detector 230 in this embodiment includes an infrared sensor 117 and an identification 1132, infrared sensor 117 being disposed on input conduit 114 (see FIG. 2) for rotation with input conduit 114 relative to inlet 1133. In other embodiments, the input conduit 114 is stationary and the sample holder 113 is rotated about the axis of rotation L, the identifier 1132 rotates with the sample holder 113 relative to the infrared sensor 117. The identification mark 1132 is provided on an end face of the first end portion of the sample holder 113 (see fig. 3). Preferably, an identification 1132 is provided on each side of the inlet 1133 of each chamber 1131. The infrared sensor 117 emits position detection light composed of infrared light to the sample holder 113, and the infrared sensor 117 detects first reflected light reflected by a target position on the sample holder 113 and second reflected light reflected by a reference position, compares an intensity difference or a ratio of the first reflected light and the second reflected light with a preset intensity difference or a preset intensity ratio, and determines whether the identification 1132 is detected, thereby determining whether the tail end of the input guide is aligned with the inlet of the current chamber or the previous chamber. In this embodiment, the preset intensity difference or the preset intensity ratio may be an intensity difference or a ratio of the first reflected light and the second reflected light when the infrared sensor 117 and the identification mark 1132 are aligned. The identification 1132 may be a black object that does not reflect light, or a mirror object that reflects light. If the identification mark 1132 is a black object that does not reflect light, after the infrared sensor 117 is incident on the target position, if no light is reflected back, the intensity difference or ratio of the first reflected light to the second reflected light is equal to the preset intensity difference or preset intensity ratio, it is determined that the infrared sensor 117 is aligned with the identification mark 1132, and if some or all of the light is reflected back, the intensity difference or ratio of the first reflected light to the second reflected light is greater than the preset intensity difference or preset intensity ratio, it is determined that the infrared sensor 117 is not aligned with the identification mark 1132, that is, the input conduit 114 is not aligned with the chamber 1131. If the identification mark 1132 is a full-reflective mirror, after the infrared sensor 117 is incident on the target position, when all light is reflected back, the intensity difference or ratio of the first reflected light to the second reflected light is equal to the preset intensity difference or preset intensity ratio, it is determined that the infrared sensor 117 is aligned with the identification mark 1132, when only part of light is reflected back or no light is reflected back, the intensity difference or ratio of the first reflected light to the second reflected light is smaller than the preset intensity difference or preset intensity ratio, it is determined that the infrared sensor 117 is not aligned with the identification mark 1132, that is, the input duct 114 is not aligned with the chamber 1131.
In another embodiment, position detector 230 includes an infrared sensor 117 and an identification tag 1132, with infrared sensor 117 being disposed on input conduit 114 (see FIG. 2) and rotating with input conduit 114 relative to inlet 1133. In other embodiments, the input conduit 114 is stationary and the sample holder 113 is rotated about the axis of rotation L, the identifier 1132 rotates with the sample holder 113 relative to the infrared sensor 117. The infrared sensor 117 is used to emit position detection light to the sample holder 113; and detecting first reflected light reflected by the target location on the sample holder; the intensity of the first reflected light is compared with a preset intensity, and it is determined whether the identification mark 1132 is detected, thereby determining whether the tail end of the input catheter is aligned with the inlet of the current chamber or the previous chamber. In this embodiment, the preset intensity may be the intensity of the first reflected light when the infrared sensor 117 and the identification mark 1132 are aligned. The identification 1132 may be a black object that does not reflect light, or a mirror object that reflects light. If the identification mark 1132 is a black object that does not reflect light, after the infrared sensor 117 is incident on the target position, if no light is reflected back, the intensity of the first reflected light is equal to the preset intensity, it is determined that the infrared sensor 117 is aligned with the identification mark 1132, and if some or all of the light is reflected back, the intensity of the first reflected light is greater than the preset intensity, it is determined that the infrared sensor 117 is not aligned with the identification mark 1132, that is, the input duct 114 is not aligned with the chamber 1131. If the identification mark 1132 is a full-reflective mirror, after the infrared sensor 117 reaches the target position, when all light is reflected back, the intensity of the first reflected light is equal to the preset intensity, it is determined that the infrared sensor 117 is aligned with the identification mark 1132, and when only part of the light is reflected back or no light is reflected back, the intensity of the first reflected light is smaller than the preset intensity, it is determined that the infrared sensor 117 is not aligned with the identification mark 1132, that is, the input duct 114 is not aligned with the chamber 1131.
The processor 210 is connected to the position detector 230 and the driving mechanism 260, and the processor 210 is configured to generate a control command through calculation according to the information collected by the position detector 230, and control the driving mechanism 260 to drive the input conduit 114 or the sample holder 113 to rotate.
In one embodiment, the position detector 230 detects whether the trailing end of the input conduit 114 is aligned with the inlet of the current chamber; if not, the processor 210 controls the driving mechanism 260 to drive the input conduit 114 or the sample holder 113 to rotate by a preset angle β in the opposite direction, so that the tail end of the input conduit 114 is located between the inlet of the current chamber and the inlet of the previous chamber of the current chamber; then, the processor 210 controls the driving mechanism 260 to drive the input conduit 114 or the sample holder 113 to continue to rotate in the reverse direction, and controls the position detector 230 to detect whether the tail end of the input conduit 114 is aligned with the inlet of the previous chamber, until the driving mechanism 260 stops driving the input conduit 114 or the sample holder 113 to rotate in the reverse direction when the tail end of the input conduit 114 is aligned with the inlet of the previous chamber; the processor 210 then controls the drive mechanism 260 to drive the input conduit 114 or sample holder 113 in a positive direction through an angle D1, where D1 is 360/N, where N is the total number of chambers in the sample holder 113.
Preferably, the position detector 230 detects whether the trailing end of the input conduit 114 is aligned with the inlet of the current chamber; if not, the processor 210 controls the driving mechanism 260 to drive the input conduit 114 or the sample holder 113 to rotate by a preset angle β in the opposite direction, so that the tail end of the input conduit 114 is located between the inlet of the current chamber and the inlet of the previous chamber of the current chamber; during the driving mechanism 260 driving the input conduit 114 or the sample holder 113 to rotate in the reverse direction by the preset angle β, the processor 210 also controls the position detector 230 to detect whether the tail end of the input conduit 114 is aligned with the inlet of the current chamber; if the position detector 230 has detected the entrance of the current chamber before the rotation angle reaches the preset angle β, the processor 210 controls the driving mechanism 260 to stop driving the input conduit 114 or the sample holder 113 to rotate in the reverse direction when the position detector 230 detects that the tail end of the input conduit 114 is aligned with the entrance of the current chamber; if the position detector 230 does not detect the inlet of the current chamber when the rotation angle reaches the preset angle β, the processor 210 controls the driving mechanism 260 to drive the input conduit 114 or the sample holder 113 to continue to rotate in the reverse direction, and simultaneously the processor 210 controls the position detector 230 to detect whether the tail end of the input conduit 114 is aligned with the inlet of the previous chamber, until the tail end of the input conduit 114 is aligned with the inlet of the previous chamber, the processor 210 controls the driving mechanism 260 to stop driving the input conduit 114 or the sample holder 113 to rotate in the reverse direction; the processor 210 controls the drive mechanism 260 to drive the input conduit 114 or the sample holder 113 in a positive direction through an angle D1, where D1 is 360/N, where N is the total number of chambers in the sample holder 113.
Fig. 5 is a flow chart of a chamber alignment calibration method of a sample holder in one embodiment of the invention. As shown in fig. 5, the chamber alignment calibration method of the sample holder includes the following steps:
step 310: it is detected whether the trailing end of the input conduit is aligned with the inlet of the current chamber.
Step 320: if not, controlling the input conduit or the sample holder to rotate by a preset angle beta in the opposite direction, so that the tail end of the input conduit is positioned between the inlet of the current chamber and the inlet of the last chamber of the current chamber.
As an example, as shown in fig. 6, 7, if the total number of chambers of the sample holder is 6, K1 is the current chamber, K3 is the target chamber, the input conduit rotates in the positive direction (assumed to be counterclockwise) from chamber K1 to K3, the input conduit 114 is misaligned with the inlet 1133 of chamber 1131 with two possibilities: the first possibility is that the input duct 114 is over-rotated (as shown in fig. 6) and the infrared sensor 117 hits in position b when the identification mark a of the chamber K3 is aligned. A second possibility is that the input catheter 114 is not rotating enough (as shown in fig. 7) and the infrared sensor 117 hits the e position when the id a of the chamber K3 is aligned.
The preset angle β may be an empirical value, and is determined according to an error of the driving mechanism 260 and an angle between two adjacent chambers 1131, that is, the preset angle β is larger than the error and smaller than an angle between two adjacent chambers 1131, that is, a rotation error value < β <360/N, for example, the preset angle β is half of the angle between two chambers, that is, β ═ 360/2N. Thus, when the first possibility occurs, the infrared sensor 117 hits the c position between the chamber K2 and the chamber K3 (as shown in fig. 6) when the input duct 114 is rotated in the reverse direction (assumed to be clockwise) by the preset angle β. When the second possibility is present, the infrared sensor 117 hits in the d position between the chamber K2 and the chamber K3 (as shown in fig. 7) when the input duct 114 is rotated in the reverse direction (assumed to be clockwise) by the preset angle β. That is, whether the input conduit 114 is over-rotated or under-rotated, when the input conduit 114 is rotated in the reverse direction by the predetermined angle β, between the chamber K2 and the chamber K3, the biopsy device 100 controls the input conduit 114 to continue to rotate in the reverse direction until the input conduit 114 is aligned with the inlet 1133 of the chamber 1131, and the tail end of the input conduit 114 is aligned with the inlet 1133 of the chamber K2.
Step 330: controlling the input conduit to continue rotating in the reverse direction, and simultaneously detecting whether the tail end of the input conduit is aligned with the inlet of the last chamber or not, until the tail end of the input conduit is aligned with the inlet of the last chamber of the current chamber, stopping rotating; the input catheter or sample holder is controlled to rotate in the positive direction through an angle D1, D1 being 360/N, N being the total number of chambers in the sample holder.
By the chamber alignment calibration method of the sample holder, when the input catheter is aligned with the chamber, the misalignment caused by errors of the stepping motor and the like is avoided, and the sample collection efficiency is favorably ensured.
Fig. 8 is a flow chart of a chamber alignment calibration method for a sample holder in another embodiment of the invention. As shown in fig. 8, the chamber alignment calibration method of the sample holder includes the following steps:
step 410: it is detected whether the trailing end of the input conduit is aligned with the inlet of the current chamber.
Step 420: if not, controlling the input conduit or the sample holder to rotate by a preset angle beta in the reverse direction so that the tail end of the input conduit is positioned between the inlet of the current chamber and the inlet of the last chamber of the current chamber, and simultaneously detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or not in the process of rotating the input conduit or the sample holder by the preset angle beta in the reverse direction.
Step 430: if the inlet of the current chamber is detected before the rotation angle reaches the preset angle β (i.e. the input conduit is over-rotated), the rotation is stopped when the tail end of the input conduit is detected to be aligned with the inlet of the current chamber.
Step 440: if the inlet of the current chamber is not detected when the rotation angle reaches the preset angle β (i.e. the input conduit 114 is not rotated sufficiently), controlling the input conduit to continue to rotate in the opposite direction, and simultaneously detecting whether the tail end of the input conduit is aligned with the inlet of the previous chamber, until the tail end of the input conduit is aligned with the inlet of the previous chamber of the current chamber, stopping rotating; the input catheter or sample holder is controlled to rotate in the positive direction through an angle D1, D1 being 360/N, N being the total number of chambers in the sample holder.
By the chamber alignment calibration method of the sample holder, when the input catheter is aligned with the chamber, the misalignment caused by errors of the stepping motor and the like is avoided, and the sample efficiency is ensured.
FIG. 9 is a flowchart illustrating the steps of detecting whether the trailing end of the input conduit is aligned with the inlet of the current chamber or the previous chamber, in accordance with one embodiment of the present invention. As shown in fig. 9, the detecting step includes:
step 510: transmitting position detection light to the sample holder;
step 520: detecting a first reflected light reflected by a target position on the sample holder and a second reflected light reflected by a reference position;
step 530: judging whether the intensity difference or the ratio of the first reflected light to the second reflected light is consistent with a preset intensity difference or a preset intensity ratio;
step 540: if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
step 550: if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
FIG. 10 is a flow chart illustrating the steps of detecting whether the trailing end of the input conduit is aligned with the inlet of the current chamber or the previous chamber in another embodiment of the present invention. As shown in fig. 10, the detecting step includes:
step 610: transmitting position detection light to the sample holder;
step 620: detecting first reflected light reflected by a target location on the sample holder;
step 630: judging whether the intensity of the first reflected light is consistent with a preset intensity;
step 640: if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
step 650: if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A method of chamber alignment calibration of a sample holder, comprising:
detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber;
if not, controlling an input conduit or a sample holder to rotate by a preset angle beta in the opposite direction, so that the tail end of the input conduit is positioned between the inlet of the current chamber and the inlet of the last chamber of the current chamber;
controlling the input conduit or sample holder to continue rotating in the reverse direction while detecting that the trailing end of the input conduit is aligned with the inlet of the preceding chamber until rotation is stopped when the trailing end of the input conduit is aligned with the inlet of the preceding chamber; the input catheter or sample holder is controlled to rotate in the positive direction through an angle D1, D1 being 360/N, N being the total number of chambers in the sample holder.
2. The method of chamber alignment calibration of a sample holder of claim 1, wherein the step of controlling the input conduit or sample holder to continue rotating in the opposite direction is preceded by the step of:
detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or not simultaneously in the process of controlling the input conduit or the sample holder to rotate in the reverse direction by a preset angle beta;
stopping rotation when it is detected that the tail end of the input conduit is aligned with the inlet of the current chamber if the inlet of the current chamber has been detected before the rotation angle reaches the preset angle β;
if the entrance to the current chamber is not detected when the angle of rotation reaches a preset angle β, the step of controlling the input conduit or sample holder to continue rotating in the opposite direction is performed.
3. The method of chamber alignment calibration of a sample holder according to claim 1 or 2, wherein the step of detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber comprises:
transmitting position detection light to the sample holder;
detecting a first reflected light reflected by a target position on the sample holder and a second reflected light reflected by a reference position;
judging whether the intensity difference or the ratio of the first reflected light to the second reflected light is consistent with a preset intensity difference or a preset intensity ratio;
if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
4. The method of chamber alignment calibration of a sample holder according to claim 1 or 2, wherein the step of detecting whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber comprises:
transmitting position detection light to the sample holder;
detecting first reflected light reflected by a target location on the sample holder;
judging whether the intensity of the first reflected light is consistent with a preset intensity;
if yes, determining that the identification mark is detected, and aligning the tail end of the input conduit with the inlet of the current chamber or the previous chamber;
if not, the identification mark is determined not to be detected, and the tail end of the input conduit is not aligned with the inlet of the current chamber or the previous chamber.
5. The method for chamber alignment calibration of a sample holder according to claim 1 or 2, wherein the predetermined angle β is in a range of: the rotation error value < beta < 360/N.
6. A biopsy device, comprising:
a sample holder assembly comprising a sample holder and an input conduit, the sample holder and the input conduit being relatively rotatable, the sample holder having a plurality of chambers disposed thereon and a plurality of inlets communicating with the plurality of chambers, respectively, the trailing end of the input conduit selectively communicating with the inlet of one of the chambers upon relative rotation of the sample holder and the input conduit;
a drive mechanism for driving rotation of the sample holder or the input conduit;
it is characterized by also comprising:
a position detector for detecting whether the trailing end of the input conduit is aligned with the inlet of the chamber;
a processor for controlling a driving mechanism to drive an input conduit or a sample holder to rotate in a reverse direction by a preset angle β when the tail end of the input conduit is detected to be misaligned with the inlet of a current chamber, so that the tail end of the input conduit is located between the inlet of the current chamber and the inlet of a previous chamber of the current chamber; controlling the drive mechanism to drive the input conduit or the sample holder to continue rotating in the reverse direction, and simultaneously controlling the position detector to detect whether the tail end of the input conduit is aligned with the inlet of the previous chamber, until the drive mechanism stops driving the input conduit or the sample holder to rotate in the reverse direction when the tail end of the input conduit is aligned with the inlet of the previous chamber; the control driving mechanism drives the input conduit or the sample holder to rotate by an angle D1 in the positive direction, wherein D1 is 360/N, and N is the total number of chambers of the sample holder.
7. The biopsy device of claim 6, wherein the processor is further configured to control the position detector to detect whether the trailing end of the input catheter is aligned with the inlet of the current chamber during the control of the drive mechanism to drive the input catheter or the sample holder to rotate in the reverse direction by the preset angle β; if the position detector detects the inlet of the current chamber before the rotation angle reaches the preset angle beta, controlling the driving mechanism to stop driving the input conduit or the sample holder to rotate in the reverse direction when the position detector detects that the tail end of the input conduit is aligned with the inlet of the current chamber; if the position detector does not detect the inlet of the current chamber when the rotation angle reaches the preset angle beta, controlling the driving mechanism to drive the input conduit or the sample holder to continue to rotate in the reverse direction, and simultaneously controlling the position detector to detect whether the tail end of the input conduit is aligned with the inlet of the previous chamber or not until the tail end of the input conduit is aligned with the inlet of the previous chamber, and controlling the driving mechanism to stop driving the input conduit or the sample holder to rotate in the reverse direction; the control driving mechanism drives the input conduit or the sample holder to rotate by an angle D1 in the positive direction, wherein D1 is 360/N, and N is the total number of chambers of the sample holder.
8. The biopsy device of claim 6 or 7, wherein the position detector comprises an infrared sensor disposed on the input conduit for rotation therewith relative to the inlet, and an identification mark disposed on a side of the inlet;
the infrared sensor is used for emitting position detection light to the sample holder, detecting first reflection light reflected by a target position on the sample holder and second reflection light reflected by a reference position, and feeding back a detection result to the processor;
and the processor compares the intensity difference value or the ratio of the first reflected light to the second reflected light with a preset intensity difference value or a preset intensity ratio, and judges whether the identification mark is detected, so that whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber is judged.
9. The biopsy device of claim 6 or 7, wherein the position detector comprises an infrared sensor disposed on the input conduit for rotation therewith relative to the inlet, and an identification mark disposed on a side of the inlet;
the infrared sensor is used for emitting position detection light to the sample holder, detecting first reflection light reflected by a target position on the sample holder, and feeding back a detection result to the processor;
the processor compares the intensity of the first reflected light with a preset intensity, and judges whether the identification mark is detected, so that whether the tail end of the input conduit is aligned with the inlet of the current chamber or the previous chamber is judged.
10. Biopsy device according to claim 6 or 7, wherein the predetermined angle β is in the range of: the rotation error value < beta < 360/N.
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| CN201811641900.9A CN111374713B (en) | 2018-12-29 | 2018-12-29 | Chamber alignment calibration method for sample holder and biopsy device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102183357A (en) * | 2010-10-21 | 2011-09-14 | 中国人民银行印制科学技术研究所 | Method and device for detecting contrast ratio of bright and dark regions of hidden image in anti-counterfeiting element |
| CN103282540A (en) * | 2011-01-07 | 2013-09-04 | 夏普株式会社 | Vapor deposition device and vapor deposition method |
| CN106974679A (en) * | 2006-12-13 | 2017-07-25 | 德威科医疗产品公司 | Biopsy device, system and method |
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| US7381370B2 (en) * | 2003-07-18 | 2008-06-03 | Dade Behring Inc. | Automated multi-detector analyzer |
| US10321963B2 (en) * | 2015-08-04 | 2019-06-18 | Vanderbilt University | Apparatus and method for moving an elongate rod |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974679A (en) * | 2006-12-13 | 2017-07-25 | 德威科医疗产品公司 | Biopsy device, system and method |
| CN102183357A (en) * | 2010-10-21 | 2011-09-14 | 中国人民银行印制科学技术研究所 | Method and device for detecting contrast ratio of bright and dark regions of hidden image in anti-counterfeiting element |
| CN103282540A (en) * | 2011-01-07 | 2013-09-04 | 夏普株式会社 | Vapor deposition device and vapor deposition method |
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