CN111679420A - Automatic digital pathological section scanning system and method - Google Patents
Automatic digital pathological section scanning system and method Download PDFInfo
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- CN111679420A CN111679420A CN202010640182.4A CN202010640182A CN111679420A CN 111679420 A CN111679420 A CN 111679420A CN 202010640182 A CN202010640182 A CN 202010640182A CN 111679420 A CN111679420 A CN 111679420A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/34—Microscope slides, e.g. mounting specimens on microscope slides
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/002—Scanning microscopes
- G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
- G02B21/0052—Optical details of the image generation
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- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/002—Scanning microscopes
- G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
- G02B21/0052—Optical details of the image generation
- G02B21/0072—Optical details of the image generation details concerning resolution or correction, including general design of CSOM objectives
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/24—Base structure
- G02B21/248—Base structure objective (or ocular) turrets
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
- G02B21/365—Control or image processing arrangements for digital or video microscopes
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Abstract
The invention provides a digital pathological section automatic scanning system and a method, comprising a microscope frame, a scanning camera, an electric objective table, a section seat, an electric objective converter, a controller, a global preview module and a strong light source module, wherein the electric objective table is a three-dimensional moving guide rail. The slice seat is detachably arranged on the electric objective table. And an electric z-axis for controlling the electric object stage to vertically lift along the z-axis direction is arranged on one side of the electric object stage. The linear feedback encoders are respectively connected with the controller. The front end of the electric objective converter is provided with a global preview module which is used for connecting to a PC. The scanning camera is for connection to the controller and the PC, respectively. The electric objective table can finish automatic continuous high-speed photographing and image collecting of slices without pause in the scanning process, so that the scanning period is shortened, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a digital pathological section automatic scanning system and a digital pathological section automatic scanning method.
Background
The digital pathological section scanner is an instrument which combines the microscopic technology, the computer processing technology and the image processing technology and can automatically scan so as to obtain clear, accurate and storable digital section information. The digital pathological section scanner can be used for previewing, analyzing and discussing the digital slide without the limitation of time and space, and compared with the traditional slide reading mode under a microscope, the digital pathological section scanner is more convenient to operate, more powerful in function and more wide in application. Therefore, the technology of the fully automatic digital pathological section scanner is paid more attention from the scientific research, medical treatment and teaching circles since the birth of the scanner, and the technology of the fully automatic digital pathological section scanner is rapidly developed.
However, the digital pathological section scanners in the market at present basically adopt a step-stop-and-shoot image acquisition mode, and the motion platform is mainly based on a stepping motor, and the light source brightness of the motion platform is usually low and the exposure time is long. In this mode of operation, the instrument scan cycle is long. For example, a scan area of 15mm by 15mm is usually required to scan for 200 seconds, which greatly reduces the working efficiency and increases the time cost. On the other hand, the high-frequency acceleration and deceleration of the digital pathological section scanner can generate some inevitable loss on a driving motor, and the risk of the working failure of the scanner and the maintenance cost are increased. In addition, the digital pathological section scanning platform on the market at present is basically driven by an x-axis electromagnetic linear motion motor and a y-axis electromagnetic linear motion motor, and the problems of electromagnetic interference and serious heating exist between the two motors.
Disclosure of Invention
The invention provides an automatic scanning system and an automatic scanning method for a digital pathological section, and aims to solve the problems of low time efficiency, easy hardware abrasion and the like caused by a walking-stopping-shooting working mode in image acquisition of the conventional digital pathological section scanner.
The invention is realized by the following steps:
a digital pathological section automatic scanning system comprises a microscope stand, a scanning camera, an electric objective table, a section seat, an electric objective converter, a controller, a global preview module and a strong light source module;
the electric objective table is arranged in the middle of the microscope rack, the electric objective table is provided with three-dimensional moving guide rails, and each moving guide rail is correspondingly provided with a linear feedback encoder, so that the electric objective table moves in a three-dimensional space, and the linear feedback encoders are respectively connected with the controller;
the slicing seat is detachably arranged on the electric objective table and used for fixing slices;
the electric objective lens converter is arranged on the microscope stand and is positioned above the electric objective table, the front end of the electric objective lens converter is provided with a global preview module for acquiring a slice preview, and the global preview module is used for being connected to a PC (personal computer);
the scanning camera is vertically arranged at the top of the microscope stand and is used for being respectively connected to the controller and the PC;
the back part of the microscope stand is also provided with the strong light source module for providing a light source for the scanning camera.
Further, in a preferred embodiment of the present invention, the electric stage is a hollow stage, an opening adapted to the slice seat is formed in the middle of the hollow stage, a magnet is disposed inside the opening, the slice seat is an insertion-type slice seat, a magnet having a magnetic pole opposite to that of the magnet on the hollow stage is disposed on the insertion-type slice seat, the insertion-type slice seat is inserted into the hollow stage and detachably connected to the hollow stage through the magnet, and a plurality of spring clips for fixing the slices are disposed on the slice seat at equal intervals.
Further, in a preferred embodiment of the present invention, the moving guide includes an x-axis guide, a y-axis guide and an electric z-axis, the electric z-axis is used for controlling the electric stage to vertically lift, and the linear feedback encoders are respectively disposed in parallel on one side of the moving guide corresponding to the linear feedback encoders.
Further, in a preferred embodiment of the present invention, an electromagnetic linear motor for driving the electric stage to move at a constant speed along the x-axis direction is disposed on one side of the x-axis guide rail, a piezoelectric linear motor for driving the electric stage to step along the y-axis direction is disposed on one side of the y-axis guide rail, the electric z-axis drives the electric stage to move vertically along the z-axis direction through a stepping motor, and the stepping motor is connected to the fine adjustment wheel rod of the microscope through a flexible coupling.
Further, in a preferred embodiment of the present invention, the global preview module includes an LED light source, a light-homogenizing device and a global preview camera, the LED light source is used for integrally illuminating the slice, the light-homogenizing device is used for redistributing the LED light source and providing a uniform light source for the slice, and the global preview camera is connected to the PC through a connection line.
Further, in a preferred embodiment of the present invention, the scanning camera is connected to the I/O interface of the controller via a camera trigger line, and the scanning camera is connected to the PC via a scanning camera line.
Further, in a preferred embodiment of the present invention, the controller controls the electromagnetic linear motor, the piezoelectric linear motor and the stepping motor through commands, and takes any vertex on the scanning area of the slice as a scanning starting point, the controller drives the electric stage to perform uniform scanning once along the x-axis direction by controlling the piezoelectric linear motor to drive the electric stage to perform each step along the y-axis direction, and when a sampling point on the scanning area moves to the center below the scanning camera, the controller sends a coded feedback value of the sampling point to the scanning camera through a pulse signal, and triggers the scanning camera to photograph the sampling point.
Further, in a preferred embodiment of the present invention, the microscope stand comprises a microscope objective holder and an eyepiece, the eyepiece is obliquely disposed at a top front end of the microscope stand, the global preview module is disposed below the eyepiece, the scanning camera is disposed obliquely above the eyepiece, and the microscope objective holder is disposed below the electric objective changer and provided with the electric objective table thereon.
A digital pathological section automatic scanning method comprises the following steps:
s1, fixing the slices on the slice seats, and inserting the slice seats into the electric object stage;
s2, the controller controls the electric z-axis to move to a preset focus position through the stepping motor, the slice moves to the position below the global preview module along with the electric objective table, and the global preview camera takes a global preview of the slice and uploads the global preview to the PC;
s3, the PC identifies and processes the global preview image, automatically selects the scanning area, the image acquisition points on the scanning area and the focus position of the electric z-axis, and calculates the corresponding coordinate points of the image acquisition points on the electric objective table according to the field width of the scanning camera;
s4, the piezoelectric linear motor controls the electric objective table to move one step at a time along the y-axis direction, the electromagnetic linear motor drives the electric objective table to perform one-time constant-speed scanning along the x-axis direction, when the drawing point moves to the position below the scanning camera along with the electric objective table, the controller sends an instruction to trigger the scanning camera to photograph and draw the drawing point after receiving a coding feedback value of the drawing point fed back by the linear feedback encoder, and the steps are repeated until all the drawing points in the scanning area pass below the scanning camera;
and S5, the scanning camera sends the shot picture information to the PC for processing.
Further, in a preferred embodiment of the present invention, the scanning area is divided into a plurality of specific grid areas with equal intervals along the horizontal direction and the vertical direction, and a central point of each specific grid area is the sampling point.
The invention has the beneficial effects that:
1. the electric objective table is provided with a three-dimensional moving guide rail. The x-axis guide rail is driven by an electromagnetic linear motor, the y-axis guide rail is driven by a piezoelectric linear motor, and the electric z-axis guide rail is driven by a stepping motor. The electric objective table can carry out constant-speed continuous scanning along the direction of an x axis and can be positioned step by step along the direction of a y axis. The scanning area of the slice is divided into a plurality of specific grid areas with equal spacing, and the center point of each specific grid area is used as a sampling point. When the slice moves along with the electric objective table, the linear feedback encoder feeds back the encoding feedback value of the sampling point position to the controller in real time. When the image acquisition point passes below the scanning camera, the controller triggers the scanning camera to rapidly expose, acquire and photograph the image, so that the whole scanning process forms the closed-loop feedback control of the linear motor. The electric objective table can finish automatic continuous high-speed photographing and image collecting of slices without pause motion in the scanning process, so that the scanning period is shortened, the working efficiency is greatly improved, and the time cost is reduced.
2. The method determines and calculates the z-axis linear coding feedback value of the optimal definition plane through the full closed loop z-axis motion. The digital pathological section automatic scanning system automatically identifies a scanning area after acquiring a global preview image, automatically allocates a reference focusing point, and respectively carries out focusing by vertically moving to each focusing point position through an electric z-axis. The global preview camera collects position images with different z-axis heights, and the position of the best clear point in the z-axis is calculated by the PC and used as the focal position. After the focusing points of all the references are focused, the focal plane data corresponding to all the camera view fields in the whole scanning area are fitted by all the groups of data, and a basis is provided for subsequent clear and rapid photographing. The invention can eliminate the error of the inclination angle of the platform by calculating the focus of the z axis, calculating the slope and controlling and compensating.
3. The electric objective table is driven by the piezoelectric linear motor and the electromagnetic linear motor to perform continuous scanning movement, so that the damage of the traditional x-y electromagnetic motor to drive motor hardware due to the high-frequency acceleration and deceleration process in the x-axis direction is reduced, the electromagnetic interference among the traditional x-y electromagnetic motors is avoided, the problem of serious heating among the traditional x-y electromagnetic motors is also reduced, and the service life of a digital pathological section scanning system is effectively prolonged.
4. The invention improves the prior microscope stand and reserves the ocular lens of the microscope stand. The traditional microscope using habit is kept through the arrangement, and the requirement that a user observes a slice through an eyepiece is met.
5. The electric objective table of the invention forms full closed-loop motion control by the three-dimensional moving guide rail and the linear feedback encoder corresponding to the three-dimensional moving guide rail, and can eliminate the return clearance of the three-dimensional electric objective table.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a first embodiment of the present invention from a first perspective;
FIG. 2 is a front view of the first embodiment of the present invention;
FIG. 3 is a left side view of the first embodiment shown in FIG. 2;
FIG. 4 is a top view of the first embodiment shown in FIG. 3;
fig. 5 is a schematic control process diagram of the controller according to the first embodiment of the present invention;
fig. 6 is a schematic diagram of a specific lattice region into which a scanning region of a slice is divided in the lateral and longitudinal directions in the first embodiment of the present invention;
fig. 7 is a flowchart illustrating a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 and 2, a first embodiment of the present invention provides an automatic scanning system for digital pathological section, which includes a microscope stand 1, a scanning camera 2, a motorized stage 3, a slice holder 4, a motorized objective converter 5, a controller, a global preview module 6 and an intense light source module.
In this embodiment, the electric stage 3 is disposed in the middle of the microscope stand 1, the electric stage 3 is provided with three-dimensional moving rails, and each moving rail is correspondingly provided with a linear feedback encoder 71, so as to realize the movement of the electric stage 3 in a three-dimensional space, and the linear feedback encoders 71 are respectively connected with the controller. The position of the electric stage 3 can be accurately fed back by a linear feedback encoder.
In the present embodiment, the slide mount 4 is detachably provided on the motorized stage 3. The slice holder 4 can be used to hold a slice 41 to be scanned.
The motorized stage 3 is preferably a hollow stage. The middle part of the hollow objective table is provided with an opening matched with the slice seat 4, and the inner side of the opening is provided with a magnet 42. The slicing seat 4 is an insertion type slicing seat. Be equipped with the magnet opposite with the magnet magnetic pole on the cavity objective table on this bayonet section seat, bayonet section seat inserts the cavity objective table and can dismantle with this cavity objective table through magnet and be connected, has realized section 41's quick replacement. A plurality of spring clips 43 for fixing the slices are arranged on the slice seat 4 at equal intervals.
In the present embodiment, the movable guide rails include an x-axis guide rail, a y-axis guide rail and an electric z-axis 7, and the electric z-axis 7 is used for controlling the electric stage 3 to vertically lift. The linear feedback encoders 71 are provided in parallel on the respective sides of the corresponding moving guide rails.
Referring to fig. 3 and 6, in the present embodiment, an electromagnetic linear motor for driving the electric stage 3 to move at a uniform speed along the x-axis direction is disposed at one side of the x-axis guide rail. One side of the y-axis guide rail is provided with a piezoelectric linear motor for driving the electric objective table 3 to step along the y-axis direction. The motorized z-axis 7 drives the motorized stage 3 to move vertically in the z-axis direction by the stepping motor 72. The stepping motor 72 is connected with the fine adjustment wheel rod of the microscope through a flexible coupling. The controller controls the electromagnetic linear motor, the piezoelectric linear motor and the stepping motor 72 through commands, respectively. The controller is used as the core of the digital pathological section automatic scanning system, on one hand, the controller controls the motion of the electric objective table 3 through instructions, and on the other hand, the controller can also receive the coding feedback value from the linear feedback encoder 71 through respective feedback lines so as to obtain the real-time position of the electric objective table 3 and control the scanning camera 2 to take pictures.
Referring to fig. 1, 5 and 6, specifically, with any vertex of the scanning area as a scanning starting point, the controller controls the piezoelectric linear motor to drive the electric stage 3 to perform a uniform scanning once along the y-axis direction every step, and the electromagnetic linear motor drives the electric stage to perform a uniform scanning once along the x-axis direction, so that the sampling point of each specific grid area on the slice 41 can pass through the center below the scanning camera 2. When the sampling point passes through the center below the scanning camera 2, the controller automatically sends the coded feedback value of the position of the sampling point on the orthogonal coordinate system formed by the x axis, the y axis and the z axis to the scanning camera 2 through a pulse signal, and triggers the scanning camera 2 to take pictures in a very short exposure time, wherein the exposure time is about 15 microseconds. And continuously moving circularly and photographing and acquiring the images according to the method, so that a clear image of the whole scanning area of the slice is obtained.
Referring to fig. 3, the first embodiment of the present invention implements high-precision closed-loop control of the electric stage by using a precision linear slide guide formed by orthogonal x-axis guide rails and y-axis guide rails, an electromagnetic linear motor for driving the x-axis guide rails to move at a constant speed, a piezoelectric linear motor for driving the y-axis guide rails to step, and a linear feedback encoder. The electric z-axis 7 drives the electric objective table 3 to vertically move along the z-axis direction through the stepping motor 72, and the stepping motor 72 is connected with the microscope fine adjustment wheel rod through a flexible coupling, so that the electric z-axis 7 can accurately move to a focus position in the focusing process. The electric z-axis 7 is matched with the z-axis linear feedback encoder 71, so that high-precision z-axis image focusing closed-loop control is realized. The full closed loop motion control formed by the motorized stage 3 and motorized z-axis 7 eliminates the return gap of the three-dimensional motorized stage.
Referring to fig. 1 and 2, in the present embodiment, the motorized objective lens changer 5 is disposed on the microscope stand 1, and the motorized objective lens changer 5 is disposed above the motorized stage 3 for controlling the motorized switching of the objective lenses with different magnification. The front end of the electric objective converter 5 is provided with a global preview module 6 for acquiring a slice preview, and the global preview module 6 is used for connecting to a PC.
In this embodiment, the global preview module 6 includes an LED light source, a light uniformizing device and a global preview camera. The LED light source is used for integrally illuminating the slices. The light homogenizing device can redistribute the LED light sources, so that a uniform light source is provided for the global preview camera to obtain the global preview picture. The global preview camera is connected with the PC through a connecting line, and sends a global preview image shot by the global preview camera to the PC.
A scanning camera 2 is vertically arranged on top of the microscope stand 1, the scanning camera 2 being adapted to be connected to a controller and a PC, respectively.
In this embodiment, the scanning camera 2 is connected to the I/O interface of the controller through a camera trigger line, and the scanning camera 2 is controlled to photograph each sampling point. The scanning camera 2 is connected to the PC through a scanning camera line, and is configured to upload the acquired picture data of the slice 41 to the PC.
Referring to fig. 1, 3 and 4, in the present embodiment, the microscope stand 1 includes a microscope stage support 11 and an eyepiece 12, the eyepiece 12 being obliquely provided at a top front end of the microscope stand 1. Below the eyepiece 12 is the global preview module 6, and obliquely above it is the scanning camera 2. The microscope stage support 11 is located below the motorized objective changer 5, on which the motorized stage 3 is located.
The back part of the microscope stand 1 is also provided with an intense light source module for providing a light source for the scanning camera. The strong light source module can provide a light source with higher brightness for the scanning camera, thereby greatly shortening the exposure time of the scanning camera 2. In the embodiment of the present invention, the exposure time of the scanning camera 2 is about 15 μ sec.
Referring to fig. 7, a second embodiment of the present invention provides an automatic scanning method for digital pathological section, which includes the following steps:
s1, the slide 41 is fixed to the slide holder 4, and the slide holder 4 is inserted into the electric stage 3.
And S2, the controller controls the electric z-axis 7 to move to a preset focus position through the stepping motor, the slice 41 moves to the lower part of the global preview module 6 along with the electric object stage 3, and the global preview camera takes a global preview of the slice 41 and uploads the global preview to the PC.
S3, the PC recognizes and processes the global preview image, and automatically selects a scanning area and a sampling point on the scanning area and a focal position of the motorized z-axis 7. Preferably, the scanning area of the slice 41 is divided into a plurality of specific grid areas with equal spacing along the transverse direction and the longitudinal direction, and the central point of each specific grid area is the sampling point. The PC calculates the corresponding coordinate point of each acquisition point on the motorized stage 3 according to the field width of the scanning camera 2.
And S4, controlling the electric objective table 3 to perform uniform scanning once along the x-axis direction by the electromagnetic linear motor every step along the y-axis direction by the piezoelectric linear motor, wherein the electric objective table 3 is driven by the electromagnetic linear motor. When the sampling point moves to the lower part of the scanning camera 2 along with the electric object stage 3, after the controller receives the coding feedback value of the sampling point fed back by the linear feedback encoder 71, the controller sends an instruction to trigger the scanning camera 2 to shoot and sample the sampling point. The above steps are repeated until all the acquisition points in the scanning area pass under the scanning camera 2.
S5, the scan camera 2 sends the photographed picture information to the PC for processing.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A digital pathological section automatic scanning system is characterized by comprising a microscope stand, a scanning camera, an electric objective table, a section seat, an electric objective converter, a controller, a global preview module and a strong light source module;
the electric objective table is arranged in the middle of the microscope rack, the electric objective table is provided with three-dimensional moving guide rails, and each moving guide rail is correspondingly provided with a linear feedback encoder, so that the electric objective table moves in a three-dimensional space, and the linear feedback encoders are respectively connected with the controller;
the slicing seat is detachably arranged on the electric objective table and used for fixing slices;
the electric objective lens converter is arranged on the microscope stand and is positioned above the electric objective table, the front end of the electric objective lens converter is provided with a global preview module for acquiring a slice preview, and the global preview module is used for being connected to a PC (personal computer);
the scanning camera is vertically arranged at the top of the microscope stand and is used for being respectively connected to the controller and the PC;
the back part of the microscope stand is also provided with the strong light source module for providing a light source for the scanning camera.
2. The automatic digital pathological section scanning system according to claim 1, wherein the motorized stage is a hollow stage, the middle of the hollow stage is provided with an opening adapted to the section holder, the inside of the opening is provided with a magnet, the section holder is an insertion section holder, the insertion section holder is provided with a magnet having a magnetic pole opposite to that of the magnet on the hollow stage, the insertion section holder is inserted into the hollow stage and detachably connected to the hollow stage through the magnet, and the section holder is provided with a plurality of spring clips for fixing the sections at equal intervals.
3. The automatic digital pathological section scanning system of claim 1, wherein the movable guide rails include an x-axis guide rail, a y-axis guide rail and an electric z-axis, the electric z-axis is used for controlling the electric stage to vertically lift, and the linear feedback encoders are respectively disposed in parallel on one side of the movable guide rails corresponding to the linear feedback encoders.
4. The automatic digital pathological section scanning system according to claim 3, wherein an electromagnetic linear motor for driving the electric stage to move at a constant speed along the x-axis direction is disposed on one side of the x-axis guide rail, a piezoelectric linear motor for driving the electric stage to step along the y-axis direction is disposed on one side of the y-axis guide rail, the electric z-axis drives the electric stage to vertically move along the z-axis direction through a stepping motor, and the stepping motor is connected with the fine adjustment wheel rod of the microscope through a flexible coupling.
5. The system of claim 1, wherein the global preview module comprises an LED light source for illuminating the slice as a whole, a light homogenizing device for redistributing the LED light source and providing a uniform light source for the slice, and a global preview camera connected to the PC via a connection line.
6. The system of claim 1, wherein the scanning camera is connected to the I/O interface of the controller via a camera trigger line, and wherein the scanning camera is connected to the PC via a scanning camera line.
7. The automatic digital pathological section scanning system according to claim 4, wherein the controller controls the electromagnetic linear motor, the piezoelectric linear motor and the stepping motor through commands, and takes any vertex on the scanning area of the section as a scanning starting point, the controller drives the electric stage to perform every step along the y-axis direction by controlling the piezoelectric linear motor, the electromagnetic linear motor drives the electric stage to perform uniform scanning once along the x-axis direction, and when the sampling point on the scanning area moves to the center below the scanning camera, the controller sends the coded feedback value of the sampling point to the scanning camera through a pulse signal and triggers the scanning camera to photograph the sampling.
8. The system of claim 1, wherein the microscope stand comprises a microscope stage and an eyepiece, the eyepiece is disposed at the front end of the top of the microscope stand in an inclined manner, the global preview module is disposed below the eyepiece, the scanning camera is disposed above the eyepiece in an inclined manner, and the microscope stage is disposed below the motorized objective changer and the motorized stage is disposed thereon.
9. A scanning method of the digital pathological section automatic scanning system according to any claim 1-8, characterized by comprising the following steps:
s1, fixing the slices on the slice seats, and inserting the slice seats into the electric object stage;
s2, the controller controls the electric z-axis to move to a preset focus position through the stepping motor, the slice moves to the position below the global preview module along with the electric objective table, and the global preview camera takes a global preview of the slice and uploads the global preview to the PC;
s3, the PC identifies and processes the global preview image, automatically selects the scanning area, the image acquisition points on the scanning area and the focus position of the electric z-axis, and calculates the corresponding coordinate points of the image acquisition points on the electric objective table according to the field width of the scanning camera;
s4, the piezoelectric linear motor controls the electric objective table to move one step at a time along the y-axis direction, the electromagnetic linear motor drives the electric objective table to perform one-time constant-speed scanning along the x-axis direction, when the drawing point moves to the position below the scanning camera along with the electric objective table, the controller sends an instruction to trigger the scanning camera to photograph and draw the drawing point after receiving a coding feedback value of the drawing point fed back by the linear feedback encoder, and the steps are repeated until all the drawing points in the scanning area pass below the scanning camera;
and S5, the scanning camera sends the shot picture information to the PC for processing.
10. The method according to claim 9, wherein the scanning area is divided into a plurality of specific grid areas with equal spacing along the horizontal and vertical directions, and the central point of each specific grid area is the sampling point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010640182.4A CN111679420B (en) | 2020-07-06 | 2020-07-06 | Automatic digital pathological section scanning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010640182.4A CN111679420B (en) | 2020-07-06 | 2020-07-06 | Automatic digital pathological section scanning system and method |
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