CN201262598Y - Servo supersonic vibration micro-dissection device - Google Patents
Servo supersonic vibration micro-dissection device Download PDFInfo
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- CN201262598Y CN201262598Y CNU2008200856854U CN200820085685U CN201262598Y CN 201262598 Y CN201262598 Y CN 201262598Y CN U2008200856854 U CNU2008200856854 U CN U2008200856854U CN 200820085685 U CN200820085685 U CN 200820085685U CN 201262598 Y CN201262598 Y CN 201262598Y
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Abstract
The utility model discloses a servo ultrasonic vibration microdissection device which consists of two parts: an operating platform and a control system, wherein, the operating platform comprises a base frame, a supporting bar, a piezoelectric ceramic driver, a supporting frame, a revolving part, a cutter bar, an ultrasonic transducer, an ultrasonic amplitude transformer, a connector, a cutting needle, a CMOS camera, a supporting frame, a microscope, a CMOS camera, a microscope, a piezoelectric ceramic driver, a bio-section microscope stage and a piezoelectric ceramic driver. The device introduces the ultrasonic cutting principle into the field of micro operation and develops the microdissection system by using the ultrasonic vibration principle. Under the ultrasonic function, the cutting needle at the terminal of a cutter is easier to penetrate into a cut substance without damaging the cutting needle. Simultaneously, in the ultrasonic vibration cutting process, the cutting resistance is effectively reduced, the cutting edge is caused to be flat without any folds, in addition, the cost is also lower and the utility model is convenient for clinical popularization and use.
Description
Technical field
The utility model relates to the cutting and separating device of biological tissue section in a kind of biomedical sector, especially, relates to a kind of tissue of biological cells micro-dissection device that can be used for the space three-dimensional high-precision motion under visual monitoring.
Background technology
Along with improving constantly of biotechnology and medical research level, biomedical having developed into from molecular level explored the pathogenesis of disease and the stage of disclosing biological phenomena essence.Wherein, the microscopic analysis of pathological section is one of efficient ways, but will analyze the RNA/DNA in pathomechanism or the analysis histocyte, must capture the homogenous cell group from section.So in molecular pathology research, the technical research of collection research object has necessity and urgency to choosing also.
At present generally adopt manual method to finish the cutting of biological tissue section, mask work, but its effect is relatively poor relatively, reason is that the enforcement of cutting operation is to have under the prerequisite of suitable contact pressure between little glass needle of maintenance and cutting object surface, its operating process is " scratching " operand, therefore be prone to wrinkling, tangent plane is irregular, and the cut edge is of low quality.When contact pressure is big, darker because of operation pin embedding operation object, the broken needle phenomenon also easily takes place in motion process, be difficult to realize comparatively complicated fine cutting operation.Meanwhile, operating personnel work long hours at microscopically, and working strength is big, fatiguability, and personal error is inevitable.In recent years, the little cutting technique fast development of Laser Microbeam, as the little diced system of laser capture (Laser Capture Micro-dissection, LCM), laser microdissection cuts the (LaserMicro-dissection of system, LMD) and laser pressure acquisition system (Laser Press Catapulting, LPC).This technology has certain advantage, but needs special instrument and equipment, costs an arm and a leg; In addition, haemostatic effect is relatively poor, and the skin incision healing is slower than general postoperative otch, cut edge coking even charing owing to fire damage; And has certain radiation pollution.Therefore, research is towards micro-dissections operation, and exploitation one cover can cut and separates histotomy, and little diced system that adverse side effect is little, price is low is significant.
The utility model content
The purpose of this utility model is at the deficiencies in the prior art, a kind of servo ultrasonic vibration micro-dissection device is provided, utilization can be carried out the transfer table of high-precision motion in the space, reaches and can accurately control the purpose that tissue of biological cells moves to the optional position and cuts.
The purpose of this utility model is achieved through the following technical solutions: a kind of servo ultrasonic vibration micro-dissection device, it is made up of operating platform and control system two parts.Wherein,
Described operating platform comprises base frame, support bar, piezoelectric ceramic actuator, bracing frame, revolving part, tool bar, ultrasonic transducer, ultrasonic amplitude transformer, web member, cutting needle, CMOS camera, bracing frame, microscope, CMOS camera, microscope, piezoelectric ceramic actuator, biologic slice microscope carrier, piezoelectric ceramic actuator; Support frame as described above is vertically fixed on the base frame; Revolving part is connected on the bracing frame, and revolving part axially and the adjustable included angle between the bracing frame; Tool bar is connected on the revolving part, and axially relative distance is adjustable between tool bar and the revolving part; One end of tool bar and an end of ultrasonic transducer interfix; Ultrasonic amplitude transformer is connected to an other end of ultrasonic transducer, and web member is by being threaded onto on the ultrasonic amplitude transformer, and cutting needle and web member weld together; Bracing frame is vertically fixed on the base frame, and two microscopes are connected on the bracing frame, the adjustable included angle between microscope and the bracing frame, and two CMOS cameras link to each other with microscope respectively; Support bar is fixed on the base frame, and the biologic slice microscope carrier is positioned on the support bar, and three piezoelectric ceramic actuators are individually fixed in the centre position and the centre position, bottom of biologic slice microscope carrier adjacent side.
Described control system is mainly by host computer, the center control module based on DSP, the control module based on ADSP, the interface module based on FPGA, digital to analog converter, and power amplifier and compensating circuit, sensor, modulate circuit, interface circuit are formed.Described control module one end based on ADSP links to each other with host computer, and the other end links to each other with the CMOS camera; Center control module one end based on DSP links to each other with host computer, and the other end links to each other with interface module based on FPGA; Digital to analog converter links to each other with power amplifier and compensating circuit, form driver module, such driver module always has four the tunnel, one end of four road driver modules all is connected with interface module based on FPGA, wherein the other end of three road driver modules links to each other with piezoelectric ceramic actuator respectively, and the other end of other one road driver module links to each other with ultrasonic transducer; Center control module based on DSP links to each other with ultrasonic transducer with sensor by interface circuit, modulate circuit.
Further, the angle of described microscope and vertical direction is 20 °; Described center control module based on DSP mainly is made up of digital signal processor DSP, CAN interface circuit, level transferring chip, signal chip for driving, JTAG debug port, power management module, FLASH chip and IO interface, described CAN interface circuit, level transferring chip, signal chip for driving, JTAG debug port, power management module and FLASH chip link to each other with digital signal processor DSP respectively, and described IO interface links to each other with CAN interface circuit, level transferring chip, signal chip for driving respectively; Described control module based on ADSP mainly is made up of digital signal processor ADSP, two CMOS interfaces, power interface, pin expanding element, level transferring chip, Starting mode select, reset chip and USB chip; Described two CMOS interfaces, power interface, pin expanding element, level transferring chip, Starting mode are selected, the chip that resets all links to each other with digital signal processor ADSP with the USB chip; Described interface module based on FPGA mainly is made up of fpga chip, JTAG debug port, crystal oscillator, power interface, storer, four digital to analog converters and four low pressure amplifiers; Described JTAG debug port, crystal oscillator, power interface, storer and digital to analog converter all link to each other with fpga chip, and described low pressure amplifier links to each other respectively with digital to analog converter.
The beneficial effects of the utility model are: generally adopt manual method and laser capture microdissection cutting technique to carry out micro-dissections at present, this device is introduced the microoperation field with the ultrasonic cut principle, adopts the ultrasonic vibration principle to develop the micro-dissections system.Under ultrasonication, the cutting needle of cutter end is easier to thrust and is cut material and can damage cutting needle, simultaneously in the ultrasonic vibration cutting process, effectively reduced the cutting resistance, make the cut edge smooth, do not have fold, and cost lower, be convenient to clinical expansion and use.In addition, the utilization three dimensional vision system positions in cutting process, and can be on host computer Real Time Observation micro-dissections overall process, improved the accuracy of operation and the precision of system.
Description of drawings
Fig. 1 is the operating platform structural representation of the utility model servo ultrasonic vibration micro-dissection device;
Fig. 2 is the control system theory diagram of the utility model servo ultrasonic vibration micro-dissection device;
Fig. 3 is based on the theory diagram of the center control module of DSP;
Fig. 4 is based on the theory diagram of the control module of ADSP;
Fig. 5 is based on the theory diagram of the interface module of FPGA;
Fig. 6 is the theory diagram of sensor circuit;
Fig. 7 is the circuit diagram of power amplifier and compensating circuit;
Among the figure, base frame 1, support bar 2, piezoelectric ceramic actuator 3, bracing frame 4, revolving part 5, tool bar 6, ultrasonic transducer 7, ultrasonic amplitude transformer 8, web member 9, cutting needle 10, CMOS camera 11, bracing frame 12, microscope 13, CMOS camera 14, microscope 15, piezoelectric ceramic actuator 16, biologic slice microscope carrier 17, piezoelectric ceramic actuator 18.
Embodiment
The utility model provides a kind of servo ultrasonic vibration micro-dissection device, is made up of operating platform and control system two parts.
As can be seen from Figure 1, the operating platform of servo ultrasonic vibration micro-dissection device of the present utility model comprises base frame 1, support bar 2, piezoelectric ceramic actuator 3, bracing frame 4, revolving part 5, tool bar 6, ultrasonic transducer 7, ultrasonic amplitude transformer 8, web member 9, cutting needle 10, CMOS camera 11, bracing frame 12, microscope 13, CMOS camera 14, microscope 15, piezoelectric ceramic actuator 16, biologic slice microscope carrier 17, piezoelectric ceramic actuator 18.Wherein, bracing frame 4 is vertically fixed on the base frame 1; Revolving part 5 is connected on the bracing frame 4, and revolving part 5 axially and the adjustable included angle between the bracing frame 4; Tool bar 6 is connected on the revolving part 5, and axially relative distance is adjustable between tool bar 6 and the revolving part 5, and an end of tool bar 6 and an end of ultrasonic transducer 7 interfix; Ultrasonic amplitude transformer 8 is connected to an other end of ultrasonic transducer 7, and web member 9 is by being threaded onto on the ultrasonic amplitude transformer 8, and cutting needle 10 is solid together by welding with web member 9, and the upper surface of biologic slice microscope carrier 17 is stretched at the tip of cutting needle 10.Bracing frame 12 is vertically fixed on the base frame 1, microscope 13 and 15 is connected on the bracing frame 12, microscope 13,15 can be by the relative distance of bracing frame 12 adjustment with tissue of biological cells, and the angle between microscope 13,15 and the bracing frame 12 can be adjusted, and is good to be 20 ° with vertical direction respectively. CMOS camera 11,14 is connected with microscope 13,15 respectively.Support bar 2 is fixed on the base frame 1, biologic slice microscope carrier 17 is positioned on the support bar 2, piezoelectric ceramic actuator 3,16,18 is individually fixed in the centre position and the centre position, bottom of biologic slice microscope carrier 17 adjacent side, thereby can three-dimensionally drive biologic slice microscope carrier 17.During operation, glass sheet is placed on the upper surface of biologic slice microscope carrier 17, and tissue of biological cells is positioned on the glass sheet.
As can be seen from Figure 2, the control system of servo ultrasonic vibration micro-dissection device of the present utility model is by host computer, the center control module based on DSP, the control module based on ADSP, the interface module based on FPGA, digital to analog converter, and power amplifier and compensating circuit, sensor, modulate circuit, interface circuit are formed.Wherein, link to each other with host computer based on control module one end of ADSP, the other end is connected with CMOS camera 11,14.Center control module one end based on DSP links to each other with host computer, and the other end is connected with interface module based on FPGA.The digital to analog converter composition driver module that is connected with power amplifier and compensating circuit, such driver module always has four the tunnel, one end of four road driver modules all is connected with interface module based on FPGA, wherein the other end of three road driver modules is connected with piezoelectric ceramic actuator 3,16,18 respectively, and the other end of other one road driver module is connected with ultrasonic transducer 7.Center control module based on DSP is connected with ultrasonic transducer 7 by interface circuit, modulate circuit and sensor.The direction of arrow is represented the direction of signal transmission among the figure.
As can be seen from Figure 3, the center control module based on DSP of the present utility model mainly is made up of digital signal processor DSP, CAN interface circuit, level transferring chip, signal chip for driving, JTAG debug port, power management module, FLASH chip, IO interface.The 74LS245 chip that the 74LVC245 chip that the TMS320F2812 chip that digital signal processor DSP can adopt TI company to produce, level transferring chip can adopt PHILIPS company to produce, signal chip for driving can adopt TI company to produce.The FLASH chip is connected with digital signal processor DSP by/XZCSO interface.JTAG debug port, power management module are connected with the digital signal processor DSP corresponding interface.Level transferring chip, signal chip for driving one end are connected with digital signal processor DSP by the I/O interface, and the other end is connected with IO interface.CAN interface circuit one end is connected with digital signal processor DSP by the CNARXA interface, and the other end is connected with IO interface.The direction of arrow is represented the direction of signal transmission among the figure.
As can be seen from Figure 4, the control module based on ADSP of the present utility model mainly is made up of digital signal processor ADSP, two CMOS interfaces, power interface, pin expanding element, level transferring chip, Starting mode selection, the chip that resets, USB chips.The ADSP-BF561 chip that digital signal processor ADSP can adopt ADI to produce, the PDIUSBD12 chip that ADM708S chip, the USB chip that the MAX3223 chip that level transferring chip can adopt TI company to produce, the chip that resets can adopt ADI to produce can adopt PHILIPS company to produce.Power interface is connected with the ADSP-BF561 chip by VCore, VI/O interface.The CMOS interface is respectively by PPI0_FS1, PPI0_FS2, PPI0_FS3, PPI0_CLK, PPI0_D[0..7], PF0, PF1, PF2 interface and PPI1_FS1, PPI1_FS2, PPI1_FS3, PPI1_CLK, PPI1_D[0..7], PF3, PF4, PF5 be connected with the ADSP-BF561 chip.The MAX3223 chip is connected with the ADSP-BF561 chip by Tx, Rx interface.The PDIUSBD12 chip by PF8, PF9, PF10, PF6, PF7 ,/ARD ,/AWE ,/AMSI, D[0..7] interface is connected with the ADSP-BF561 chip.The direction of arrow is represented the direction of signal transmission among the figure.
As can be seen from Figure 5, the interface module based on FPGA of the present utility model mainly is made up of fpga chip, JTAG debug port, crystal oscillator, power interface, storer, digital to analog converter, low pressure amplifier.The XC3S400 chip that fpga chip can adopt XILINX company to produce, the XCF02S chip that storer can adopt XILINX company to produce, the AD817 chip that the AD9762AR chip that digital to analog converter can adopt ADI to produce, low pressure amplifier can adopt ADI to produce.AD9762AR chip one end is connected with the AD817 chip, and the other end is connected with the XC3S400 chip by the I/O interface, and such connected mode always has four the tunnel.JTAG debug port, crystal oscillator, power interface, storer are connected with XC3S400 chip corresponding interface.The direction of arrow is represented the direction of signal transmission among the figure.
As can be seen from Figure 6, sensor of the present utility model mainly is made up of voltage sensor, current sensor, phase detector, resistance, electric capacity.The MC1496 chip that the SML100mACE/Sn chip that the LV25-P chip that voltage sensor can adopt LEM company to produce, current sensor can adopt Nanjing San Meng Science and Technology Ltd. to produce, phase detector can adopt MOTOLORA company to produce.The interface 1,4 of LV25-P chip connects respectively+15V ,-15V voltage, signal is transferred to the interface 2,3 of LV25-P chip through resistance R 1, and the interface 5 of LV25-P chip is connected with the interface 10 of MC1496.The interface 1,3 of SML 100mACE/Sn chip connects respectively+12V ,-12V voltage, interface 2 ground connection of SML 100mACE/Sn chip, the interface 4 of SML 100mACE/Sn chip is connected with the interface 1 of MC1496.The interface 12 of MC1496 transfers out signal by resistance R, capacitor C.The direction of arrow is represented the direction of signal transmission among the figure.
As can be seen from Figure 7, power amplifier of the present utility model and compensating circuit mainly are made up of operational amplifier integrated chip, electric capacity, resistance, diode, interface etc.The high-voltage power operational amplifier integrated chip PA85 that the operational amplifier integrated chip can adopt U.S. APEX company to produce.The interface 1 of PA85 is connected with 1 end of interface JP2; Be connected by resistance R c1 between the interface 1 of PA85, the interface 2.The interface 3 of PA85 is connected with the constant voltage dc source of+200V.The interface 5 of PA85 is connected with 2 ends of interface JP1 by resistance R 1; The interface 4 of PA85 is connected with ground.The interface 6 of PA85 is connected with the constant voltage dc source of-200V.Be connected by resistance R c, capacitor C c between the interface 7 of PA85, the interface 8.
The course of work of the present utility model is as follows: tissue of biological cells is fixed on the biologic slice microscope carrier 17 by glass sheet; Rotate revolving part 5, the length direction of cutting needle 10 and the angle of bracing frame 4 are adjusted to suitable angle, and cutting needle 10 and tissue of biological cells are adjusted to suitable distance; According to specific requirement, on host computer, set the running orbit of cutting needle 10 needle points; The data-signal that CMOS camera 11,14 is gathered microscope 13,15 is transferred to ADSP-BF561 chip through the COMS interface, and handle the back and transfer signals to host computer by the PDIUSBD12 chip, thus the image information of obtaining and Z direction depth information.According to image information of obtaining on the host computer and Z direction depth information, host computer carries out communication by JTAG debug port and TMS320F2812 chip, the TMS320F2812 chip provides pulse and direction signal by each road bus to the XC3S400 chip according to the instruction of host computer, through A, B, after the AD9762AR chip conversion on C road and AD817 chip low pressure are amplified, be transferred to the JP1 input end of corresponding power amplifier and compensating circuit, signal is after amplifying, JP2 output terminal output by corresponding power amplifier and compensating circuit, respectively in order to drive piezoelectric ceramic actuator 3,16,18, to realize driving to its three coordinate direction fine motions, thereby make needle point and tissue of biological cells adjust to suitable position, and tissue of biological cells is moved according to desired trajectory.Meanwhile, the XC3S400 chip provides pulse signal, after conversion of the AD9762AR on D road chip and the amplification of AD817 chip low pressure, be transferred to the JP1 input end of D road power amplifier and compensating circuit, signal is after amplifying, by the JP2 output terminal output of corresponding power amplifier and compensating circuit, be used for driving ultrasonic transducer 7, and the amplification by ultrasonic amplitude transformer 8, be transferred to cutting needle 10, make it do high frequency ultrasonic vibration by a narrow margin along its length.In entire work process, the electric signal on E road is from the interface 2 of LV25-P chip, 3 and SML100mACE/Sn chip input, thereby obtain the voltage at ultrasonic transducer 7 two ends and the signal of electric current respectively, after handling, the MC1496 chip obtains the voltage at ultrasonic transducer 7 two ends and the phase differential of electric current, and transfer out by the interface 12 of MC1496 chip, be transferred to the TMS320F2812 chip through modulate circuit and interface circuit, further the XC3S400 chip is controlled by bus transfer, frequency to its pulse signal that provides is adjusted, and finally makes ultrasonic transducer 7 be in resonance state always.CMOS camera 11, CMOS camera 14 are realized the collection of histotomy cutting image information, are transferred to ADSP-BF561 chip through the COMS interface, handle the back and transfer signals to host computer by the PDIUSBD12 chip, can Real Time Observation micro-dissections process.
Claims (5)
1, a kind of servo ultrasonic vibration micro-dissection device is characterized in that, it is made up of operating platform and control system two parts; Wherein,
Described operating platform comprises base frame (1), support bar (2), piezoelectric ceramic actuator (3), bracing frame (4), revolving part (5), tool bar (6), ultrasonic transducer (7), ultrasonic amplitude transformer (8), web member (9), cutting needle (10), CMOS camera (11), bracing frame (12), microscope (13), CMOS camera (14), microscope (15), piezoelectric ceramic actuator (16), biologic slice microscope carrier (17), piezoelectric ceramic actuator (18); Support frame as described above (4) is vertically fixed on the base frame (1); Revolving part (5) is connected on the bracing frame (4), and revolving part (5) axially and the adjustable included angle between the bracing frame (4); Tool bar (6) is connected on the revolving part (5), and axially relative distance is adjustable between tool bar (6) and the revolving part (5); One end of one end of tool bar (6) and ultrasonic transducer (7) interfixes; Ultrasonic amplitude transformer (8) is connected to an other end of ultrasonic transducer (7), and web member (9) is by being threaded onto on the ultrasonic amplitude transformer (8), and cutting needle (10) welds together with web member (9); Bracing frame (12) is vertically fixed on the base frame (1), two microscopes (13,15) are connected on the bracing frame (12), adjustable included angle between microscope (13,15) and the bracing frame (12), two CMOS cameras (11,14) link to each other with microscope (13,15) respectively; Support bar (2) is fixed on the base frame (1), and biologic slice microscope carrier (17) is positioned on the support bar (2), and three piezoelectric ceramic actuators (3,16,18) are individually fixed in the centre position and the centre position, bottom of biologic slice microscope carrier (17) adjacent side;
Described control system is mainly by host computer, the center control module based on DSP, the control module based on ADSP, the interface module based on FPGA, digital to analog converter, and power amplifier and compensating circuit, sensor, modulate circuit, interface circuit are formed; Described control module one end based on ADSP links to each other with host computer, and the other end links to each other with CMOS camera (11,14); Center control module one end based on DSP links to each other with host computer, and the other end links to each other with interface module based on FPGA; Digital to analog converter links to each other with power amplifier and compensating circuit, form driver module, such driver module always has four the tunnel, one end of four road driver modules all is connected with interface module based on FPGA, wherein the other end of three road driver modules links to each other with piezoelectric ceramic actuator (3,16,18) respectively, and the other end of other one road driver module links to each other with ultrasonic transducer (7); Center control module based on DSP links to each other with ultrasonic transducer (7) with sensor by interface circuit, modulate circuit.
2. servo ultrasonic vibration micro-dissection device according to claim 1 is characterized in that, described microscope (13,15) is 20 ° with the angle of vertical direction.
3. servo ultrasonic vibration micro-dissection device according to claim 1, it is characterized in that, described center control module based on DSP is mainly by digital signal processor DSP, the CAN interface circuit, level transferring chip, the signal chip for driving, the JTAG debug port, power management module, FLASH chip and IO interface are formed, described CAN interface circuit, level transferring chip, the signal chip for driving, the JTAG debug port, power management module links to each other with digital signal processor DSP respectively with the FLASH chip, described IO interface respectively with the CAN interface circuit, level transferring chip, the signal chip for driving links to each other.
4. servo ultrasonic vibration micro-dissection device according to claim 1, it is characterized in that described control module based on ADSP mainly is made up of digital signal processor ADSP, two CMOS interfaces, power interface, pin expanding element, level transferring chip, Starting mode select, reset chip and USB chip; Described two CMOS interfaces, power interface, pin expanding element, level transferring chip, Starting mode are selected, the chip that resets all links to each other with digital signal processor ADSP with the USB chip.
5. servo ultrasonic vibration micro-dissection device according to claim 1, it is characterized in that described interface module based on FPGA mainly is made up of fpga chip, JTAG debug port, crystal oscillator, power interface, storer, four digital to analog converters and four low pressure amplifiers; Described JTAG debug port, crystal oscillator, power interface, storer and digital to analog converter all link to each other with fpga chip, and described low pressure amplifier links to each other respectively with digital to analog converter.
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| CNU2008200856854U CN201262598Y (en) | 2008-04-21 | 2008-04-21 | Servo supersonic vibration micro-dissection device |
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| CNU2008200856854U CN201262598Y (en) | 2008-04-21 | 2008-04-21 | Servo supersonic vibration micro-dissection device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319972B (en) * | 2008-04-21 | 2012-05-02 | 浙江大学 | Servo ultrasonic vibration micro-dissection device based on vision |
| US10866170B2 (en) | 2011-01-24 | 2020-12-15 | Roche Molecular Systems, Inc | Devices, systems, and methods for extracting a material from a material sample |
| US10871425B2 (en) | 2015-01-31 | 2020-12-22 | Roche Molecular Systems Inc. | Systems and methods for meso-dissection |
| US10876933B2 (en) | 2016-11-09 | 2020-12-29 | Ventana Medical Systems, Inc. | Automated tissue dissection instrument and methods of using the same |
| US11125660B2 (en) | 2015-01-31 | 2021-09-21 | Roche Molecular Systems, Inc. | Systems and methods for meso-dissection |
-
2008
- 2008-04-21 CN CNU2008200856854U patent/CN201262598Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319972B (en) * | 2008-04-21 | 2012-05-02 | 浙江大学 | Servo ultrasonic vibration micro-dissection device based on vision |
| US10866170B2 (en) | 2011-01-24 | 2020-12-15 | Roche Molecular Systems, Inc | Devices, systems, and methods for extracting a material from a material sample |
| US10871425B2 (en) | 2015-01-31 | 2020-12-22 | Roche Molecular Systems Inc. | Systems and methods for meso-dissection |
| US11125660B2 (en) | 2015-01-31 | 2021-09-21 | Roche Molecular Systems, Inc. | Systems and methods for meso-dissection |
| US11181449B2 (en) | 2015-01-31 | 2021-11-23 | Roche Molecular Systems, Inc. | Systems and methods for meso-dissection |
| US11768136B2 (en) | 2015-01-31 | 2023-09-26 | Roche Molecular Systems, Inc. | Systems and methods for meso-dissection |
| US11860072B2 (en) | 2015-01-31 | 2024-01-02 | Roche Molecular Systems, Inc. | Systems and methods for meso-dissection |
| US10876933B2 (en) | 2016-11-09 | 2020-12-29 | Ventana Medical Systems, Inc. | Automated tissue dissection instrument and methods of using the same |
| US11971333B2 (en) | 2016-11-09 | 2024-04-30 | Ventana Medical Systems, Inc. | Automated tissue dissection instrument and methods of using the same |
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Granted publication date: 20090624 Effective date of abandoning: 20080421 |