CN115070847A - Automatic tissue slicing speed segmentation control device and control method - Google Patents
Automatic tissue slicing speed segmentation control device and control method Download PDFInfo
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- CN115070847A CN115070847A CN202210646761.9A CN202210646761A CN115070847A CN 115070847 A CN115070847 A CN 115070847A CN 202210646761 A CN202210646761 A CN 202210646761A CN 115070847 A CN115070847 A CN 115070847A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000011218 segmentation Effects 0.000 title claims abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001575 pathological effect Effects 0.000 abstract description 4
- 238000004804 winding Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/28—Splitting layers from work; Mutually separating layers by cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/08—Means for actuating the cutting member to effect the cut
- B26D5/14—Crank and pin means
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention provides a device and a method for controlling tissue automatic slicing speed in a segmented manner, which comprise a sample clamp; a cutting unit; a drive unit; the encoder is a Hall angle sensor and is arranged at the driving unit and used for reading the rotating angle information and the rotating angular speed of the driving unit in real time; and the control unit is respectively connected with the encoder and the driving unit, receives the data of the Hall angle sensor and adjusts the sectional speed according to preset parameters. According to the invention, the relation between the rotation angle of the servo motor and the linear segmentation stroke can be automatically constructed according to the thickness, the speed switching of the idle stroke and the slicing stroke is quickly adjusted, the quick falling, slow slicing and quick returning are realized, the problems of unreasonable slicing speed, low slicing efficiency and unstable slicing quality of the traditional pathological section machine are solved, and the operation convenience of the pathological section machine is improved; in addition, the wireless communication touch type handle is adopted, the hand/self-working mode is automatically switched, the operation is simple and convenient, and the problem of power line winding cannot occur.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a microtome.
Background
The patent application No. CN201310193636.8 discloses a microtome with an automatic swing mode, which describes a microtome comprising a sample holder (12), a cutting unit (16), and a drive unit (22) capable of producing a relative movement between the sample holder (12) and the cutting unit (16) to cut a sample. The slicer (10) also has a handwheel (32) and an encoder (38). The control unit (40) controls the drive unit (22) as a function of the rotary movement of the hand wheel (32) detected by the encoder (38) and in such a way that: in a first mode of operation, the relative movement between the sample holder (12) and the cutting element (16) produced by the drive unit (22) has a maximum first stroke when the hand wheel (32) makes a full turn, and in a second mode of operation the relative movement has a preset second stroke length which is shorter than the maximum first stroke length.
This patent has the following problems: in the whole process of slicing a certain tissue, the slicing speed is constant, and the slicing cannot be adjusted in a segmented mode, so that the idle cutting time is too long, the whole slicing efficiency is influenced, and the slicing speed is greatly reduced.
Disclosure of Invention
The invention discloses a device and a method for controlling tissue automatic slicing speed in a segmented manner, which solve the problems in the background technology.
In order to solve the technical problems, the invention specifically adopts the following technical scheme:
the automatic tissue section speed segment control device comprises:
a sample holder for holding biological tissue;
a cutting unit for cutting biological tissue;
a driving unit for driving the sample holder and the cutting unit to move relatively to cut the biological tissue;
the encoder is a Hall angle sensor and is arranged at the driving unit and used for reading the rotating angle information and the rotating angular speed of the driving unit in real time;
the control unit is respectively connected with the encoder and the driving unit, and is used for receiving the angle information and the angular speed read by the Hall angle sensor and rotating by the driving unit, converting the angle information and the angular speed into a stroke position and a movement speed of the movement of the sample holder, and adjusting the sectional speed according to preset parameters; the three strokes are respectively marked as A, B and C, the corresponding movement speeds of A, B and C are respectively a, B and C, a is larger than B, and C is larger than B.
Preferably, the control unit comprises a main control board and a man-machine control end, the man-machine control end is provided with a stroke control bar, a speed control bar and a horizontal position control bar, the stroke control bar is provided with two cursors for displaying and controlling stroke respectively, the speed control bar is provided with two cursors for displaying and controlling speed respectively, the horizontal position control bar is provided with two cursors for displaying and controlling horizontal movement distance respectively, and the parameters can be adjusted by pulling the respective cursors for adjusting during adjustment.
Preferably, the man-machine control end is a touch screen or an external mouse, and the touch screen adjusting mode is touch control adjusting; the mouse adjusting mode comprises two modes of clicking and dragging and clicking and rotating a mouse code disc.
Preferably, the cutting unit comprises a tool rest and a cutting post arranged on the tool rest.
Preferably, the cutting device further comprises a base, a motor lead screw mechanism is arranged on the base, a motor of the motor lead screw mechanism is connected with the control unit, an output end of the motor lead screw mechanism is connected with the driving unit and drives the driving unit and the sample clamp to carry or retreat towards the cutting unit, and a groove-shaped optical coupler connected with the control unit is arranged between the base and the driving unit and used for sensing the travel of the carrying and the retreat.
Preferably, the driving unit includes:
the driving motor is a servo motor and is used for providing driving power;
the hand wheel is used for providing driving power;
the transmission mechanism comprises a transmission shaft and a crank connecting rod connected with the transmission shaft, wherein a bevel gear is arranged at one end of the transmission shaft, an output shaft of the hand wheel is connected with the bevel gear, an output shaft of the driving motor is meshed with the bevel gear through the bevel gear, and the transmission shaft is provided with a gear disc which is meshed with a gear on a shaft of the Hall angle sensor;
a horizontal sliding rail sliding block which is connected with a crank connecting rod,
the vertical sliding rail sliding block is connected with the horizontal sliding rail.
Preferably, a built-in chip with a wireless transmission module is embedded in the hand wheel, a touch sensing element connected with the built-in chip is arranged on the hand wheel, and the built-in chip is in wireless communication connection with the control unit and wirelessly transmits signals of the touch sensing element to the control unit.
The tissue automatic slicing speed subsection control method is used for controlling the tissue automatic slicing speed subsection control device, and is characterized in that: after the machine is started, in a manual mode, a handle of the hand wheel is held, a touch sensing element on the handle senses a touch signal, the signal is transmitted to the built-in chip and is wirelessly transmitted to the control unit through a wireless communication module on the built-in chip, and the control unit controls the driving motor to be loosened, so that slicing can be performed by rotating the hand wheel; under the electric mode, the motor of the motor lead screw mechanism is controlled through the touch screen setting parameters to adjust the horizontal carry distance of the sample holder so as to control the slice thickness, and meanwhile, the rotating speed of the driving motor is controlled to adjust the speed of the upper slice and the lower slice.
Preferably, a ═ c > b, a and c are maximum speeds allowed by the servo motor, and b is an optimum speed for the unorganized correspondence.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the relation between the rotation angle of the servo motor and the linear segmentation stroke can be automatically constructed according to the thickness, the speed switching of the idle stroke and the slicing stroke is quickly adjusted, the quick falling, slow slicing and quick returning are realized, the problems of unreasonable slicing speed, low slicing efficiency and unstable slicing quality of the traditional pathological section machine are solved, and the operation convenience of the pathological section machine is improved; in addition, the wireless communication touch type handle is adopted, the hand/self working mode is automatically switched, the operation is simple and convenient, and the problem of power line winding cannot occur.
Drawings
Fig. 1 is a perspective view of the present invention (with the housing removed).
FIG. 2 is a schematic view of a human-machine interface.
Fig. 3 is a control block diagram.
Fig. 4 is a graph of the stroke speed relationship of the vertical slide.
In the figure: the device comprises a sample clamp 1, a cutting unit 2, a driving unit 3, a hand wheel 31, a driving motor 32, a motor screw mechanism 4, a base 5, a horizontal slide rail slide block 6, a vertical slide rail slide block 7 and a crank connecting rod 8.
Detailed Description
The details of the present invention will be described below with reference to the accompanying drawings and examples.
As shown in fig. 1-4, the automatic tissue slicing speed segment control device and the control method thereof, the automatic tissue slicing speed segment control device comprises:
a sample holder 1 for holding a biological tissue;
a cutting unit 2 for cutting a biological tissue;
a driving unit 3 for driving the sample holder 1 and the cutting unit 2 to move relatively to cut the biological tissue;
the encoder is a Hall angle sensor and is arranged at the driving unit 3 and used for reading the rotating angle information and the rotating angular speed of the driving unit 3 in real time;
the control unit is respectively connected with the encoder and the driving unit 3, and converts the received angle information and the received angular speed of the rotation of the driving unit 3, which are read by the Hall angle sensor, into the moving stroke position and the moving speed of the sample holder 1, and adjusts the segmentation speed according to preset parameters; the three strokes are respectively marked as A, B and C, the corresponding movement speeds of A, B and C are respectively a, B and C, a is larger than B, and C is larger than B.
Preferably, the control unit comprises a main control board and a man-machine control end, the man-machine control end is provided with a stroke control bar, a speed control bar and a horizontal position control bar, the stroke control bar is provided with two cursors for displaying and controlling a stroke respectively, the speed control bar is provided with two cursors for displaying and controlling a speed respectively, the horizontal position control bar is provided with two cursors for displaying and controlling a horizontal moving distance respectively, and the parameters can be adjusted by pulling the respective cursors for adjusting during adjustment.
Preferably, the man-machine control end is a touch screen or an external mouse, and the touch screen adjusting mode is touch control adjusting; the mouse adjusting mode comprises two modes of clicking dragging and clicking to rotate a mouse code disc.
Preferably, the cutting unit 2 includes a tool post and a cutting post provided on the tool post.
Preferably, the automatic cutting machine further comprises a base 5, a motor screw mechanism 4 is arranged on the base 5, a motor of the motor screw mechanism 4 is connected with the control unit, the output end of the motor screw mechanism 4 is connected with the driving unit 3 and drives the driving unit 3 and the sample clamp 1 to carry or retreat to the cutting unit 2, and a groove-shaped optical coupler connected with the control unit is arranged between the base 5 and the driving unit 3 and used for sensing the stroke of the carrying and the retreat.
Preferably, the drive unit 3 comprises:
the driving motor 32, the driving motor 32 is a servo motor, it is used for providing the driving power;
a hand wheel 31 for providing driving power;
the transmission mechanism comprises a transmission shaft and a crank connecting rod 8 connected with the transmission shaft, wherein a bevel gear is arranged at one end of the transmission shaft, an output shaft of the hand wheel 31 is connected with the bevel gear, an output shaft of the driving motor 32 is meshed with the bevel gear through the bevel gear, the transmission shaft is provided with a gear disc, and the gear disc is meshed with a gear on a shaft of the Hall angle sensor;
a horizontal sliding rail sliding block 6 which is connected with a crank connecting rod 8,
and the vertical sliding rail sliding block 7 is connected with the horizontal sliding rail.
Preferably, a built-in chip with a wireless transmission module is embedded in the hand wheel 31, a touch sensing element connected with the built-in chip is arranged on the hand wheel 31, the built-in chip is in wireless communication connection with the control unit, and signals of the touch sensing element are wirelessly transmitted to the control unit.
The tissue automatic slicing speed subsection control method is used for controlling the tissue automatic slicing speed subsection control device, and is characterized in that: after the machine is started, in a manual mode, only the handle of the hand wheel 31 needs to be held, a touch sensing element on the handle senses a touch signal, the signal is transmitted to the built-in chip and is wirelessly transmitted to the control unit through a wireless communication module on the built-in chip, and the control unit controls the driving motor 32 to be loosened, so that slicing can be performed by rotating the hand wheel 31; in the electric mode, the horizontal carry distance of the sample holder 1 is adjusted by controlling the motor of the motor screw mechanism 4 through setting parameters of a touch screen so as to control the slice thickness, and meanwhile, the rotating speed of the driving motor 32 is controlled so as to adjust the speed of slicing up and down, in the electric mode, the Hall angle sensor feeds back the rotating angle and the rotating speed information to the control unit, the control unit calculates the stroke position and the moving speed of the vertical sliding block to be switched and controls the driving motor 32 to enable the vertical sliding block to run according to the speeds of a, b and c in A, B, C sections of strokes, and when slicing is completed once, the translation mechanism advances once, wherein the advancing distance at each time is the same as the sliced thickness.
Preferably, a ═ c > b, a and c are maximum speeds allowed by the servo motor, and b is an optimum speed for the unorganized correspondence.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (9)
1. Automatic section speed segmentation controlling means of tissue, its characterized in that includes:
a sample holder for holding biological tissue;
a cutting unit for cutting a biological tissue;
a driving unit for driving the sample holder and the cutting unit to move relatively to cut the biological tissue;
the encoder is a Hall angle sensor and is arranged at the driving unit and used for reading the rotating angle information and the rotating angular speed of the driving unit in real time;
the control unit is respectively connected with the encoder and the driving unit, and is used for receiving the angle information and the angular speed read by the Hall angle sensor and rotating by the driving unit, converting the angle information and the angular speed into a stroke position and a movement speed of the movement of the sample holder, and adjusting the sectional speed according to preset parameters; the three strokes are respectively marked as A, B and C, the corresponding movement speeds of A, B and C are respectively a, B and C, a is larger than B, and C is larger than B.
2. The apparatus for controlling the speed of automatic slicing tissue according to claim 1, wherein: the control unit comprises a main control board and a man-machine control end, the man-machine control end is provided with a stroke control bar, a speed control bar and a horizontal position control bar, the stroke control bar is provided with two cursors for displaying and controlling stroke respectively, the speed control bar is provided with two cursors for displaying and controlling speed respectively, the horizontal position control bar is provided with two cursors for displaying and controlling horizontal movement distance respectively, and the parameters can be adjusted by pulling respective cursors for adjusting during adjustment.
3. The apparatus for controlling the speed of automatic slicing tissue according to claim 2, wherein: the man-machine control end is a touch screen or an external mouse, and the touch screen adjusting mode is touch control adjusting; the mouse adjusting mode comprises two modes of clicking and dragging and clicking and rotating a mouse code disc.
4. The apparatus for controlling the speed of automatic slicing tissue according to claim 1, wherein: the cutting unit comprises a tool rest and a cutting column arranged on the tool rest.
5. The apparatus for controlling the speed of automatic slicing tissue according to claim 1, wherein: the automatic cutting machine is characterized by further comprising a base, wherein a motor lead screw mechanism is arranged on the base, a motor of the motor lead screw mechanism is connected with a control unit, an output end of the motor lead screw mechanism is connected with a driving unit and drives the driving unit and a sample clamp to carry or retreat to the cutting unit, and a groove-shaped optical coupler connected with the control unit is arranged between the base and the driving unit and used for sensing the stroke of the carrying and the retreat.
6. The apparatus for controlling tissue sectioning speed according to claim 1, wherein the driving unit comprises:
the driving motor is a servo motor and is used for providing driving power;
the hand wheel is used for providing driving power;
the transmission mechanism comprises a transmission shaft and a crank connecting rod connected with the transmission shaft, wherein a bevel gear is arranged at one end of the transmission shaft, an output shaft of the hand wheel is connected with the bevel gear, an output shaft of the driving motor is meshed with the bevel gear through the bevel gear, and the transmission shaft is provided with a gear disc which is meshed with a gear on a shaft of the Hall angle sensor;
a horizontal sliding rail sliding block which is connected with a crank connecting rod,
the vertical sliding rail sliding block is connected with the horizontal sliding rail.
7. The apparatus and method for controlling the sectioning speed of an automatic tissue section according to claim 1, wherein: the hand wheel is embedded with a built-in chip with a wireless transmission module, the hand wheel is provided with a touch sensing element connected with the built-in chip, and the built-in chip is in wireless communication connection with the control unit and wirelessly transmits signals of the touch sensing element to the control unit.
8. An automatic tissue section speed segment control method for controlling the automatic tissue section speed segment control device according to any one of claims 1 to 6, characterized in that: after the machine is started, in a manual mode, a handle of the hand wheel is held, a touch sensing element on the handle senses a touch signal, the signal is transmitted to the built-in chip and is wirelessly transmitted to the control unit through a wireless communication module on the built-in chip, and the control unit controls the driving motor to be loosened, so that slicing can be performed by rotating the hand wheel; under the electric mode, the motor of the motor lead screw mechanism is controlled through the touch screen setting parameters to adjust the horizontal carry distance of the sample holder so as to control the slice thickness, and meanwhile, the rotating speed of the driving motor is controlled to adjust the speed of the upper slice and the lower slice.
9. The method of controlling a high efficiency microtome according to claim 7, wherein: and a, c is more than b, a and c are maximum speeds allowed by the servo motor, and b is an optimal speed corresponding to the unorganized structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210646761.9A CN115070847A (en) | 2022-06-09 | 2022-06-09 | Automatic tissue slicing speed segmentation control device and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210646761.9A CN115070847A (en) | 2022-06-09 | 2022-06-09 | Automatic tissue slicing speed segmentation control device and control method |
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| CN115070847A true CN115070847A (en) | 2022-09-20 |
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| CN202210646761.9A Pending CN115070847A (en) | 2022-06-09 | 2022-06-09 | Automatic tissue slicing speed segmentation control device and control method |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5761977A (en) * | 1995-08-01 | 1998-06-09 | Carl-Zeiss-Stiftung | Cryostatic microtome |
| CN1268423A (en) * | 1999-03-12 | 2000-10-04 | 莱卡显微系统努斯洛赫股份有限公司 | Cutting machine having electric feeding driver |
| TW570274U (en) * | 2003-02-10 | 2004-01-01 | Rung-Tzung Wei | Switch on line |
| CN101258008A (en) * | 2005-08-12 | 2008-09-03 | 浦瑞玛柯Feg有限责任公司 | Food product slicer wtih carriage drive |
| CN201152824Y (en) * | 2008-02-17 | 2008-11-19 | 王钢 | Pathologic section slicer |
| US20100180742A1 (en) * | 2007-06-06 | 2010-07-22 | Leica Biosystems Nussloch Gmbh | Device And Method For Braking A Shaft Of A Microtome |
| CN102692338A (en) * | 2011-03-24 | 2012-09-26 | 美国樱花检验仪器株式会社 | Microtome with surface orientation sensor to sense orientation of surface of sample |
| EP2565614A2 (en) * | 2011-09-05 | 2013-03-06 | PFM Medical AG | Rotation microtome |
| CN109253904A (en) * | 2018-10-16 | 2019-01-22 | 金华市益迪医疗设备有限公司 | A kind of automatic intelligent pathologic section slicer |
| CN114380239A (en) * | 2020-10-22 | 2022-04-22 | 浙江中力机械股份有限公司 | Manual-automatic switching device |
-
2022
- 2022-06-09 CN CN202210646761.9A patent/CN115070847A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5761977A (en) * | 1995-08-01 | 1998-06-09 | Carl-Zeiss-Stiftung | Cryostatic microtome |
| CN1268423A (en) * | 1999-03-12 | 2000-10-04 | 莱卡显微系统努斯洛赫股份有限公司 | Cutting machine having electric feeding driver |
| TW570274U (en) * | 2003-02-10 | 2004-01-01 | Rung-Tzung Wei | Switch on line |
| CN101258008A (en) * | 2005-08-12 | 2008-09-03 | 浦瑞玛柯Feg有限责任公司 | Food product slicer wtih carriage drive |
| US20100180742A1 (en) * | 2007-06-06 | 2010-07-22 | Leica Biosystems Nussloch Gmbh | Device And Method For Braking A Shaft Of A Microtome |
| CN201152824Y (en) * | 2008-02-17 | 2008-11-19 | 王钢 | Pathologic section slicer |
| CN102692338A (en) * | 2011-03-24 | 2012-09-26 | 美国樱花检验仪器株式会社 | Microtome with surface orientation sensor to sense orientation of surface of sample |
| EP2565614A2 (en) * | 2011-09-05 | 2013-03-06 | PFM Medical AG | Rotation microtome |
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| CN114380239A (en) * | 2020-10-22 | 2022-04-22 | 浙江中力机械股份有限公司 | Manual-automatic switching device |
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