CN114963982A - Method and device for detecting slice position in digital pathological slice scanner - Google Patents

Method and device for detecting slice position in digital pathological slice scanner Download PDF

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CN114963982A
CN114963982A CN202210537231.0A CN202210537231A CN114963982A CN 114963982 A CN114963982 A CN 114963982A CN 202210537231 A CN202210537231 A CN 202210537231A CN 114963982 A CN114963982 A CN 114963982A
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slice
laser sensor
laser
box
feeding device
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CN114963982B (en
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耿世超
徐璐
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Shandong Zhiying Medical Technology Co ltd
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Shandong Zhiying Medical Technology Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications

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Abstract

The invention discloses a method and a device for detecting slice positions in a digital pathological section scanner, wherein the method comprises the following steps: calculating the interval between the laser sensor and the two electric claws of the film feeding device and the interval of the slices in the slice box; determining an initial position and the whole film checking stroke of the film checking; calculating the number of steps of the motor needing to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices; storing the position information of all the detected slices, and determining the specific position of each slice according to the existing data; and calculating the slice outlet position of each slice according to the specific position of each slice. The invention not only provides a method for efficiently detecting the position of the slice in the digital pathological section scanner, which saves the labor cost, but also improves the positioning accuracy of the slice in the digital pathological section scanner, and achieves the effect of accurately positioning the specific position coordinate of the slice in the slice box.

Description

Method and device for detecting slice position in digital pathological slice scanner
Technical Field
The invention relates to a method and a device for detecting a slice position in a digital pathological section scanner, in particular to the technical field of detection of the digital pathological section scanner.
Background
The digital pathological section scanner is an instrument which scans a physical section into digital information and stores the digital information into a computer, and a user can realize the digitization of the physical section only by putting the section into the instrument and matching with software operation. At present, slice scanners with two modes, namely a single-slice mode and a multi-slice mode, exist in the market, the single-slice mode is a single-slice manual feeding mode, and the operation is relatively complex; the multi-chip mode is an automatic film feeding mode through the film feeding device, and the characteristics of high scanning efficiency and no need of manual watching become the first choice of customers. Different manufacturers have different ways of loading a multi-slice mode scanner, and are broadly classified into two types, tray-type devices and slide cassettes. Although the tray type slide glass device has high stability, the tray type slide glass device has certain limitation, and the slice needs to be manually placed into a tray after the slice dyeing is finished, so that the operation is time-consuming and labor-consuming; the slice box suitable for dyeing unifies the slice slide modes of two steps of dyeing and scanning, and the operation is more convenient.
Generally, a multi-chip scanner adopting a slide glass of the slide glass box can position the slide glass by utilizing a stepping motor and take and place the electric claw, and in order to improve the movement efficiency, the two electric claws are usually adopted to respectively grab and put back the slide glass. After a user puts the slice box into the scanner, the slice feeding device firstly needs to position the position of the slice in the slice box, then the slice is taken out of the slice box by the electric claw 1 and put into the scanner, and the slice is put back into the slice box by the electric claw 2 after the scanning is finished. The whole movement process has higher precision requirement on the slice feeding device, but the difficulty of locating the slice position is increased due to the influences of objective factors such as different slice thicknesses, slight difference in the placement positions of the slice boxes at each time and the like. If the position of each slice is simply debugged manually, not only a large amount of position information needs to be recorded, but also once the position of the slice deviates, the slice cannot be accurately entered or exited, and even the slice is damaged.
In order to improve the precision of slice positioning and save the labor cost, the invention provides a method for efficiently detecting the slice position in a digital pathological section scanner.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a device for detecting the slice position in a digital pathological section scanner, which can quickly detect the slice position and improve the slice positioning precision.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, an embodiment of the present invention provides a method for detecting a slice position in a digital pathological section scanner, including:
calculating the interval between the laser sensor and the two electric claws of the film feeding device and the interval of the slices in the slice box;
determining an initial position and the whole film checking stroke of the film checking;
calculating the number of steps of the motor needing to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing the position information of all the detected slices, and determining the specific position of each slice according to the existing data;
and calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the position of the slice through laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for placing back the slice.
As a possible implementation manner of this embodiment, the calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval between the cut sheets in the cut sheet box includes:
moving the chip feeding device to enable laser emitted by the laser sensor to hit the middle position of the first chip cross section of the chip box, and recording the position A at the moment; then moving the slice feeding device to enable the electric claw 1 to grab the first slice, and recording the position B at the moment 0 (ii) a Moving the slice feeding device to enable the electric claw 2 to grab the first slice, and recording the position B at the moment 1 ；
Electric claw by using formula (1)Subtracting the laser position from the position of the laser to calculate the distance LC between the laser sensor and the two electric claws 0 And LC 1 ：
LC j ＝B j -A (1)
j-0 or 1, LC 0 And LC 1 The intervals between the laser sensor and the electric claw 1 and the electric claw 2 are respectively;
moving the sheet feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last sheet of the sheet cutting box, recording the position F at the moment, substituting the first sheet cutting position A and the last sheet cutting position F into a formula (2) to calculate the interval n of each sheet in the sheet cutting box:
n＝(F-A)/(G-1) (2)
wherein G is the capacity of the cutting chip box.
As a possible implementation manner of this embodiment, the determining an initial position of a film check and a whole film check stroke includes:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
As a possible implementation manner of this embodiment, the calculating the number of steps that the motor needs to move according to the current position of the motor and the initial film-checking position, and controlling the motor to move according to the entire film-checking stroke to detect the position information of all the slices includes:
s31, adding the initial position of the slice search to the slice search stroke, calculating the end position C of the slice search, initializing a slice position data counter D to 0, initializing the detected position information array E and allocating 1000 memory addresses thereto, initializing a slice ID array J and allocating 1000 memory addresses thereto, initializing a slice position array K and allocating 1000 memory addresses thereto, and initializing a slice number num to 0;
s32, reading the data S in the current register;
s33, if S < C, entering the next step, otherwise, ending the film checking process;
s34, re-reading the data S in the current register, and according to the information returned by the laser sensor, if the slice is detected to exist, entering the next step, otherwise, repeating the step until the data S in the current register is completely read;
s35, the slice position data counter D + +, records the currently detected position information E [ D ] ═ S, and proceeds to step S33 after delaying 1 ms.
As a possible implementation manner of this embodiment, the storing all the detected slice position information, and determining the specific position of each slice according to the existing data includes:
s41, setting the final position FP of the current slice as E [1], and setting a position counter i of the detected slice;
s42, if i < ═ D, proceed to step S43; otherwise, go to step S47;
s43, substituting the ith position of the record into equation (3) to calculate the final position FP of the current slice:
FP＝(FP+E[i])/2 (3)
wherein i ∈ D, proceed to step S44;
s44, if E [ i ] -E [ i-1] < ═ 100, regarding the position of i and i-1 as the same slice, and entering step S45, otherwise, if the position of i and i-1 does not belong to the same slice, entering step S46;
s45, i + +, go to step S42;
s46, calculating the current slice ID according to the formula (4),
ID＝(FP-NP+N)/n+1 (4)
the method comprises the following steps of firstly, inquiring the starting position of a slice box by using NP, inquiring the reverse moving step of a laser sensor during slice inquiry by using N, and acquiring the interval of each slice in the slice box by using N;
adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], wherein num + + is carried out, and the step S45 is carried out;
s47, the last set of position data is processed, the current slice ID is calculated according to formula (4), the current slice ID is added to the array J [ num ], the final position FP is added to the array K [ num ], and the slice position data counter is cleared to zero D equal to 0.
As a possible implementation manner of this embodiment, the calculating the slice exit position of each slice according to the specific position of each slice includes:
analyzing the slice ID array J and the position array K, and determining the position SP of each slice k And the distance CL between the laser sensor and the electric claw 1 0 Distance CL between the laser sensor and the electric claw 1 1 Substituting the formula (5) to calculate the slice outlet position SC of each slice j ：
SC j ＝SP k +CL j (5)
Wherein k ∈ J, J ═ 0, 1.
In a second aspect, an embodiment of the present invention provides an apparatus for detecting a slice position in a digital pathological section scanner, including:
the interval calculation module is used for calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval of the slices in the slice box;
the stroke determining module is used for determining the initial position of the film checking and the whole film checking stroke;
the slice position detection module is used for calculating the number of steps of the motor needing to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all the detected slice position information and determining the specific position of each slice according to the existing data;
and the slice discharging position calculating module is used for calculating the discharging position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the position of the slice through laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for placing back the slice.
As a possible implementation manner of this embodiment, the trip determining module is specifically configured to:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
The technical scheme of the embodiment of the invention has the following beneficial effects:
the method for detecting the slice position in the digital pathological section scanner in the technical scheme of the embodiment of the invention comprises the following steps: calculating the interval between the laser sensor and the two electric claws of the film feeding device and the interval of the slices in the slice box; determining an initial position and the whole piece checking stroke of the piece checking; calculating the number of steps of the motor needing to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices; storing the position information of all the detected slices, and determining the specific position of each slice according to the existing data; and calculating the slice outlet position of each slice according to the specific position of each slice. The invention not only provides a method for efficiently detecting the position of the slice in the digital pathological section scanner, which saves the labor cost, but also improves the positioning accuracy of the slice in the digital pathological section scanner, and achieves the effect of accurately positioning the specific position coordinate of the slice in the slice box.
Description of the drawings:
FIG. 1 is a flow chart illustrating a method of detecting slice positions in a digital pathology slice scanner in accordance with an exemplary embodiment;
fig. 2 is a block diagram illustrating a detection apparatus of slice positions in a digital pathological section scanner according to an exemplary embodiment;
FIG. 3 is a schematic diagram of a film feeding apparatus according to an exemplary embodiment;
fig. 4 is a schematic diagram of a cassette shown in accordance with an exemplary embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
Fig. 1 is a flow chart illustrating a method for detecting slice positions in a digital pathological section scanner according to an exemplary embodiment. As shown in fig. 1, a method for detecting a slice position in a digital pathological section scanner according to an embodiment of the present invention includes:
calculating the interval between the laser sensor and the two electric claws of the chip feeding device and the interval between the chips in the chip cutting box;
determining an initial position and the whole film checking stroke of the film checking;
calculating the number of steps of the motor required to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing the position information of all the detected slices, and determining the specific position of each slice according to the existing data;
and calculating the slice outlet position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, as shown in fig. 3, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the position of the slice through laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for replacing the slice.
As a possible implementation manner of this embodiment, the calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval between the cut sheets in the cut sheet box includes:
as shown in fig. 4, the slice box moves the slice feeding device, so that the laser emitted by the laser sensor is irradiated on the middle position of the first slice cross section of the slice box, and the position A at the moment is recorded; then moving the slice feeding device to enable the electric claw 1 to grab the first slice, and recording the position B at the moment 0 (ii) a Moving the slice feeding device to enable the electric claw 2 to grab the first slice, and recording the position B at the moment 1 ；
Subtracting the laser position from the electric claw position by using a formula (1) to calculate the distance LC between the laser sensor and the two electric claws 0 And LC 1 ：
LC j ＝B j -A (1)
j-0 or 1, LC 0 And LC 1 The intervals between the laser sensor and the electric claw 1 and the electric claw 2 are respectively;
moving the sheet feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last sheet of the sheet cutting box, recording the position F at the moment, substituting the first sheet cutting position A and the last sheet cutting position F into a formula (2) to calculate the interval n of each sheet in the sheet cutting box:
n＝(F-A)/(G-1) (2)
wherein G is the capacity of the cutting chip box.
As a possible implementation manner of this embodiment, the determining an initial position of a film check and a whole film check stroke includes:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
As a possible implementation manner of this embodiment, the calculating the number of steps that the motor needs to move according to the current position of the motor and the initial film-checking position, and controlling the motor to move according to the entire film-checking stroke to detect the position information of all the slices includes:
s31, adding the initial position of the slice search to the slice search stroke, calculating the end position C of the slice search, initializing a slice position data counter D to 0, initializing the detected position information array E and allocating 1000 memory addresses thereto, initializing a slice ID array J and allocating 1000 memory addresses thereto, initializing a slice position array K and allocating 1000 memory addresses thereto, and initializing a slice number num to 0;
s32, reading the data S in the current register;
s33, if S < C, entering the next step, otherwise, ending the film checking process;
s34, re-reading the data S in the current register, and according to the information returned by the laser sensor, if the slice is detected to exist, entering the next step, otherwise, repeating the step until the data S in the current register is completely read;
s35, the slice position data counter D + +, records the currently detected position information E [ D ] ═ S, and proceeds to step S33 after delaying 1 ms.
As a possible implementation manner of this embodiment, the storing all the detected slice position information, and determining the specific position of each slice according to the existing data includes:
s41, setting the final position FP of the current slice as E [1], and setting a position counter i of the detected slice;
s42, if i < ═ D, proceed to step S43; otherwise, go to step S47;
s43, substituting the ith position of the record into equation (3) to calculate the final position FP of the current slice:
FP＝(FP+E[i])/2 (3)
wherein i ∈ D, proceed to step S44;
s44, if E [ i ] -E [ i-1] < ═ 100, regarding the positions of i and i-1 as the same slice, and going to step S45, otherwise, if the positions of i and i-1 do not belong to the same slice, going to step S46;
s45, i + +, go to step S42;
s46, calculating the current slice ID according to the formula (4),
ID＝(FP-NP+N)/n+1 (4)
the method comprises the following steps of firstly, inquiring the starting position of a slice box by using NP, inquiring the reverse moving step of a laser sensor during slice inquiry by using N, and acquiring the interval of each slice in the slice box by using N;
adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], wherein num + + is carried out, and the step S45 is carried out;
s47, the last set of position data is processed, the current slice ID is calculated according to formula (4), the current slice ID is added to the array J [ num ], the final position FP is added to the array K [ num ], and the slice position data counter is cleared to zero D equal to 0.
As a possible implementation manner of this embodiment, the calculating the slice exit position of each slice according to the specific position of each slice includes:
analyzing the slice ID array J and the position array K, and determining the position SP of each slice k And the distance CL between the laser sensor and the electric claw 1 0 Distance CL between the laser sensor and the electric claw 1 1 Substituting the formula (5) to calculate the slice outlet position SC of each slice j ：
SC j ＝SP k +CL j (5)
Wherein k ∈ J, J ═ 0, 1.
As shown in fig. 2, an apparatus for detecting a slice position in a digital pathological section scanner according to an embodiment of the present invention includes:
the interval calculation module is used for calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval of the slices in the slice box;
the stroke determining module is used for determining the initial position of the film checking and the whole film checking stroke;
the slice position detection module is used for calculating the number of steps of the motor needing to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all the detected slice position information and determining the specific position of each slice according to the existing data;
and the slice discharging position calculating module is used for calculating the discharging position of each slice according to the specific position of each slice.
As a possible implementation manner of this embodiment, the slice feeding device includes a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the position of the slice through laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for placing back the slice.
As a possible implementation manner of this embodiment, the trip determining module is specifically configured to:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
Now, the case of 20-piece capacity of the slice box is exemplified, and the specific process of detecting the slice position in the digital pathological section scanner according to the present invention is as follows.
And S1, calculating the interval between the laser sensor and the two electric claws and the interval of each slice in the slice box. The first slice and the last slice are placed in the slice box, and the slice box is placed in the scanner. The slice feeding device comprises a laser sensor, an electric claw 1 and an electric claw 2, wherein the laser sensor determines the position of a slice through laser induction, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for putting back the slice. Cutting boxes such asFig. 4 shows the sheet feeding device is moved, so that the laser emitted by the laser sensor is hit at the middle position of the first section cross section of the section box, and the position a at this time is recorded as 15000; then the slice feeding device is moved again to enable the electric claw 1 to grab the first slice, and the position B at the moment is recorded 0 9000; finally, the slice feeding device is moved to enable the electric claw 2 to grab the first slice, and the position B at the moment is recorded 1 1500. Subtracting the laser position from the two electric claw positions by using a formula (1) to calculate the interval LC between the laser sensor and the two electric claws 0 ═ 6000 and LC 1 -13500. The sheet feeding device is moved so that the laser beam emitted by the laser sensor strikes the middle position of the cross section of the last slice of the slicing cassette, the position F is recorded as 35520, the first slice position A is 15000, the last slice position F is 35520, and the slice volume G is 20, and the interval n of each slice in the slicing cassette is calculated as 1080 by substituting the formula (2).
And S2, determining the initial position of the film checking and the whole film checking stroke. Moving the film feeding device to the position A, reversely moving the laser sensor by N to 1000 steps, and setting the position at the moment as the initial position of film checking; then moving the film feeding device to make the laser point emitted by the laser sensor align with the lower edge of the film cutting box, recording the current position as the film checking end position, subtracting the initial position from the end position, and calculating the whole film checking stroke.
And S3, checking the film. And calculating the number of steps of the motor required to move according to the current position and the initial film checking position of the motor, and sending a movement instruction to the lower computer. After the motor moves to the initial film checking position, the whole film checking stroke is sent to the lower computer, and the lower computer sends a movement instruction to start a film checking process.
Step s31, adding the initial position of the slice search to the slice search stroke, calculating the end position C of the slice search to be 36520, initializing the slice position data counter D to be 0, initializing the detected position information array E and allocating 1000 memory addresses to it, initializing the slice ID array J and allocating 1000 memory addresses to it, initializing the slice position array K and allocating 1000 memory addresses to it, and initializing the slice number num to be 0.
And S32, reading the data S in the current register.
S33, if S is less than C, namely the current film checking process is not finished, the step S3.4 is carried out; otherwise, the process ends and the flow proceeds to step S41.
Step S34, re-reading the data S in the current register, and according to the information returned by the laser sensor, if the slice is detected to exist, entering step S35; otherwise, the step is repeated.
And step S35, a slice position data counter D + +, recording the currently detected position information E [ D ] ═ S, and after delaying for 1ms, entering step S33.
Suppose that after the process of checking the piece is finished, D is 3, E1 is 14870, E2 is 14950, and E3 is 15040.
And S4, determining the positions of the slices entering and exiting the slice body. The process of checking the slices is finished, and all the position information of the detected possible slices is stored in E, and at this time, the specific position of each slice needs to be determined according to the existing data.
And step S41, setting the final position FP of the current slice, wherein the position counter i of the detected slice is 2, acquiring the position E [1] of the detected first existing slice and assigning the position E [1] into the FP, namely the FP is 14870.
Step S42. because i is 2, D is 3, and i < ═ D, the process proceeds to step S43.
Step S43 is performed by substituting i in equation (3) to 2 to calculate the final position FP of the current slice (14870+14950)/2 in 14910, and the process advances to step S44.
Step S44. because E [2] -E [1] ═ 80 and E [ i ] -E [ i-1] < ═ 100, the positions of i and i-1 are regarded as the same slice, and the process proceeds to step S45.
Step S45.i + +, proceed to step S42.
When i is 3, the process goes through steps S42 to S45 again, and finally FP is 14975, i is 4, and the process goes to step S42, and the process goes to step S47 if the condition of i < ═ D is not satisfied.
Step s47. the last set of position data needs to be processed, and the current slice ID (14975-. Adding the current slice ID into an array J [ num ], namely J [0] ═ 1, adding the final position FP into an array K [ num ], namely K [0] ═ 14975, sending the two arrays to the upper computer together, resetting the slice position data counter to zero and changing D to 0, and entering the step S5.
And S5, the upper computer analyzes the slice ID array J and the position array K. Since only one slice with a slice ID of 1 is present, the slice position SP is set 1 And the distance CL between the laser sensor and the electric claw 1 0 Distance CL between the laser sensor and the electric claw 1 1 Substituting the obtained value into formula (5), calculating the slice-out position SC with ID of 1 0 8675, slice feeding position SC with ID of 1 1 ＝1475。
And S6, finishing the slice position detection.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (10)

1. A method for detecting a slice position in a digital pathological section scanner is characterized by comprising the following steps:
calculating the interval between the laser sensor and the two electric claws of the film feeding device and the interval of the slices in the slice box;
determining an initial position and the whole film checking stroke of the film checking;
calculating the number of steps of the motor needing to move according to the current position of the motor and the initial film checking position, and controlling the motor to move according to the whole film checking stroke to detect the position information of all the slices;
storing the position information of all the detected slices, and determining the specific position of each slice according to the existing data;
and calculating the slice outlet position of each slice according to the specific position of each slice.
2. The method for detecting the slice position in the digital pathological section scanner according to claim 1, wherein the slice feeding device comprises a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the slice position through laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for putting back the slice.
3. The method for detecting the slice position in the digital pathological slice scanner according to claim 1 or 2, wherein the calculating the interval between the laser sensor and the two electric claws of the slice feeding device and the interval between the slices in the slice box comprises:
moving the chip feeding device to enable laser emitted by the laser sensor to hit the middle position of the first chip cross section of the chip box, and recording the position A at the moment; then moving the slice feeding device to enable the electric claw 1 to grab the first slice, and recording the position B at the moment 0 (ii) a Moving the slice feeding device to enable the electric claw 2 to grab the first slice, and recording the position B at the moment 1 ；
Subtracting the laser position from the electric claw position by using a formula (1) to calculate the distance LC between the laser sensor and the two electric claws 0 And LC 1 ：
LC j ＝B j -A (1)
j-0 or 1, LC 0 And LC 1 The intervals between the laser sensor and the electric claw 1 and the electric claw 2 are respectively;
moving the sheet feeding device to enable laser emitted by the laser sensor to strike the middle position of the cross section of the last sheet of the sheet cutting box, recording the position F at the moment, substituting the first sheet cutting position A and the last sheet cutting position F into a formula (2) to calculate the interval n of each sheet in the sheet cutting box:
n＝(F-A)/(G-1) (2)
wherein G is the capacity of the cutting chip box.
4. The method for detecting slice positions in a digital pathological section scanner according to claim 3, wherein said determining the initial position of the examination slice and the whole examination slice stroke comprises:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
5. The method for detecting the slice position in the digital pathological section scanner according to claim 4, wherein the step number of the motor required to move is calculated according to the current position of the motor and the initial slice position, and the motor is controlled to move according to the whole slice checking stroke to detect the position information of all slices, comprising:
s31, adding the initial position of the slice search to the slice search stroke, calculating the end position C of the slice search, initializing a slice position data counter D to 0, initializing the detected position information array E and allocating 1000 memory addresses thereto, initializing a slice ID array J and allocating 1000 memory addresses thereto, initializing a slice position array K and allocating 1000 memory addresses thereto, and initializing a slice number num to 0;
s32, reading the data S in the current register;
s33, if S < C, entering the next step, otherwise, ending the checking process;
s34, re-reading the data S in the current register, and according to the information returned by the laser sensor, if the slice is detected to exist, entering the next step, otherwise, repeating the step until the data S in the current register is completely read;
s35, the slice position data counter D + +, records the currently detected position information E [ D ] ═ S, and proceeds to step S33 after delaying 1 ms.
6. The method for detecting slice positions in a digital pathological section scanner according to claim 5, wherein the step of storing all slice position information to be detected and determining the specific position of each slice according to the existing data comprises:
s41, setting the final position FP of the current slice as E [1], and setting a position counter i of the detected slice;
s42, if i < ═ D, proceed to step S43; otherwise, go to step S47;
s43, substituting the ith position into equation (3) to calculate the final position FP of the current slice:
FP＝(FP+E[i])/2 (3)
wherein i ∈ D, proceed to step S44;
s44, if E [ i ] -E [ i-1] < ═ 100, regarding the positions of i and i-1 as the same slice, and going to step S45, otherwise, if the positions of i and i-1 do not belong to the same slice, going to step S46;
s45, i + +, go to step S42;
s46, calculating the current slice ID according to the formula (4),
ID＝(FP-NP+N)/n+1 (4)
the method comprises the following steps of firstly, inquiring the starting position of a slice box by using NP, inquiring the reverse moving step of a laser sensor during slice inquiry by using N, and acquiring the interval of each slice in the slice box by using N;
adding the ID of the current slice into an array J [ num ], adding the final position FP into an array K [ num ], wherein num + + is carried out, and the step S45 is carried out;
s47, the last set of position data is processed, the current slice ID is calculated according to formula (4), the current slice ID is added to the array J [ num ], the final position FP is added to the array K [ num ], and the slice position data counter is cleared to zero D equal to 0.
7. The method for detecting slice positions in a digital pathological section scanner according to claim 6, wherein the calculating of the slice exit position of each slice according to the specific position of each slice comprises:
analyzing the slice ID array J and the position array K, and determining the position SP of each slice k And the distance CL between the laser sensor and the electric claw 1 0 Distance CL between the laser sensor and the electric claw 1 1 Substituting the formula (5) to calculate the slice outlet position SC of each slice j ：
SC j ＝SP k +CL j (5)
Wherein k ∈ J, J ═ 0, 1.
8. A device for detecting a slice position in a digital pathological section scanner, comprising:
the interval calculation module is used for calculating the interval between the laser sensor and the two electric claws of the sheet feeding device and the interval of the slices in the slice box;
the stroke determining module is used for determining the initial position of the film checking and the whole film checking stroke;
the slice position detection module is used for calculating the number of steps of the motor needing to move according to the current position of the motor and the initial slice checking position, and controlling the motor to move according to the whole slice checking stroke to detect the position information of all slices;
the slice position determining module is used for storing all the detected slice position information and determining the specific position of each slice according to the existing data;
and the slice discharging position calculating module is used for calculating the discharging position of each slice according to the specific position of each slice.
9. The apparatus for detecting the slice position in a digital pathological section scanner according to claim 8, wherein the slice feeding device comprises a laser sensor, an electric claw 1 and an electric claw 2, the laser sensor determines the slice position by laser sensing, the electric claw 1 is used for grabbing the slice, and the electric claw 2 is used for replacing the slice.
10. The apparatus for detecting slice positions in a digital pathological section scanner according to claim 8, wherein the stroke determining module is specifically configured to:
moving the chip feeding device to enable a laser light spot emitted by the laser sensor to be aligned to the middle position of the cross section of the first chip in the chip box, then moving the laser sensor reversely for N steps to enable the laser to be shot on the upper edge of the chip box, and setting the position at the moment as the chip searching initial position; then moving the film feeding device to enable the laser point emitted by the laser sensor to be aligned with the lower edge of the film cutting box, and recording the position at the moment as the film checking end position; and subtracting the initial position from the end position to calculate the whole film checking stroke.
CN202210537231.0A 2022-05-17 2022-05-17 Method and device for detecting slice position in digital pathological slice scanner Active CN114963982B (en)

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