WO2020258155A1 - 推片机及其控制方法 - Google Patents

推片机及其控制方法 Download PDF

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Publication number
WO2020258155A1
WO2020258155A1 PCT/CN2019/093264 CN2019093264W WO2020258155A1 WO 2020258155 A1 WO2020258155 A1 WO 2020258155A1 CN 2019093264 W CN2019093264 W CN 2019093264W WO 2020258155 A1 WO2020258155 A1 WO 2020258155A1
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WO
WIPO (PCT)
Prior art keywords
reagent
kit
box
dye
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/093264
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English (en)
French (fr)
Inventor
翁少葵
贺捷山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Mindray Bio Medical Electronics Co Ltd
Original Assignee
Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Mindray Bio Medical Electronics Co Ltd filed Critical Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority to PCT/CN2019/093264 priority Critical patent/WO2020258155A1/zh
Priority to CN201980066933.1A priority patent/CN112823273A/zh
Publication of WO2020258155A1 publication Critical patent/WO2020258155A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/30—Staining; Impregnating ; Fixation; Dehydration; Multistep processes for preparing samples of tissue, cell or nucleic acid material and the like for analysis
    • G01N1/31—Apparatus therefor

Definitions

  • the present invention relates to the technical field of medical equipment, in particular to a film pusher and a method for controlling the film pusher.
  • the traditional manual staining method for blood smears is to first add a certain amount of dye solution to the blood smear, then add a certain amount of buffer solution, and then use an ear wash bulb or other air blowing device to mix the dye solution with the buffer solution. uniform. After waiting for a period of time, the mixture is washed away with running water, and then dried to become a blood smear for microscopy. The white blood cells, red blood cells, platelets, etc. are stained with specific colors for identification.
  • a manipulator is usually used to realize all degrees of freedom movement of the glass slide operation in space.
  • two or more sets of manipulators are used for operation, which greatly increases the complexity and production cost of the models.
  • the internal layout of the film pusher needs to make space for the manipulator's respective degrees of movement, and the operation space coupled with all degrees of freedom, which occupies a relatively large area and is not conducive to the volume control of the film pusher.
  • the multi-degree-of-freedom motion coupling of the manipulator requires high operation accuracy, and the process is difficult to realize.
  • the present invention provides a tablet pusher with movable manipulator and reagent box, and the internal mechanism of the tablet pusher is simplified through the coordinated movement of the manipulator and the reagent box. Specifically include the following technical solutions:
  • the present invention proposes a film pusher, including:
  • the staining mechanism includes a kit, a plurality of mounting parts and a first driving system, the plurality of mounting parts are arranged in the kit, the mounting parts are used to form an insertion area for inserting the smear, the reagent
  • the staining solution reagent is stored in the box, the smear can be immersed in the staining solution reagent to receive corresponding treatment when it is contained in the insertion area, the top of the reagent box is open, and the first driving system is used to drive the
  • the kit rotates around the first axis;
  • the slide mechanism includes a manipulator and a second drive system, the manipulator is used to extract the smear and put the smear into the kit for staining, and the second drive system is used to drive the manipulator Reciprocating translation in the second direction;
  • the second driving system is also used to drive the manipulator toward the reagent
  • the cassette is moved to dispose of the smear from the opening into the kit for staining or remove the smear from the kit.
  • the staining mechanism is provided with a connecting position and a storage position corresponding to the reagent box, wherein the connecting position corresponds to the matching position of the reagent box and the manipulator, and the first driving system drives the The position of the kit is switched between the storage position and the splicing position, so that the manipulator puts the smear into the kit located in the splicing position, or places the smear Take it out from the kit located at the splicing position.
  • the dyeing mechanism further includes a base connected between the kit and the first drive system, the base is circular, and the first drive system drives the kit around the first axis Rotate to switch between the storage position and the connection position.
  • the dyeing mechanism further includes a base connected between the reagent box and the first driving system, the base is fan-shaped, and the first driving system drives the reagent box to reciprocate around the first axis Rotate to switch between the storage position and the connection position.
  • the first driving system drives the reagent cartridge to rotate in a first horizontal plane to switch between the storage position and the connecting position.
  • the number of the kits is multiple
  • the staining mechanism is provided with at least one of the placement positions corresponding to each of the kits, and the manipulator puts the smear in each of the placement positions. Corresponding to the kit, or take the smear out of the kit.
  • a plurality of the reagent kits are sequentially arranged on the base along the circumferential direction of the base.
  • the staining mechanism is provided with a cover plate with a fixed position, the cover plate is arranged above the reagent box corresponding to the rotation path of the reagent box, and the cover plate is used to cover the Opening, and the cover plate is provided with a notch corresponding to the splicing position, and the notch is used to allow the manipulator to pass through and dispose of the smear from the opening into the kit for staining or from the Take out the smear from the kit.
  • the moving path of the manipulator is provided with a film taking position and a placement position corresponding to the manipulator, and the placement position corresponds to the matching position of the reagent cartridge and the manipulator
  • the second driving system includes The first driving device, the first driving device drives the manipulator to switch between the taking position and the placement position, the manipulator picks up the smear in the taking position, and the manipulator is at The placement position places the smear into the kit, or takes out the smear from the kit.
  • the second driving system further includes a second driving device, and the second driving device is used to drive the manipulator to move toward the reagent cartridge in the placement position to place the smear into the reagent. In the box, or remove the smear from the kit.
  • the first driving device drives the manipulator to translate in a second horizontal plane to realize the position switching of the manipulator between the film taking position and the placing position
  • the second driving device drives the The manipulator moves back and forth in a vertical direction to put the smear into the kit or take the smear out of the kit.
  • the projection of the manipulator on the first horizontal plane is located within the rotation path of the reagent cartridge, and the first driving device drives
  • the projection of the manipulator on the first horizontal plane is outside the rotation path of the reagent box, so that the pusher is at least on the first horizontal plane.
  • two accommodating spaces are formed at two sides corresponding to the traveling direction of the manipulator.
  • the base is circular, and the manipulator in the taking position is farther away from the center of the base than the manipulator in the placement position, so that the pusher is in the first position.
  • an accommodating space is also formed corresponding to the side of the manipulator in the placement position toward the center of the base, and the accommodating space is connected to two sides corresponding to the traveling direction of the manipulator. Housing space.
  • the projection of the second direction on the first horizontal plane passes through the geometric center of the base.
  • the kit includes a primary staining box and an isolation box, and the primary staining box stores a first staining solution for primary staining of the smear, and the first staining solution is a first biological dye and A mixture of second biological dyes, the first biological dye can stain acidophilic substances in the blood sample, and the second biological dye can stain basophilic substances in the blood sample; the reagents stored in the isolation box are used for Process blood samples after initial staining and before counter staining.
  • the kit further includes a counterstaining box, in which a second staining solution is stored for counterstaining the smear, and the second staining solution is a third biological dye and a buffer solution
  • the third biological dye can stain basophils or basophils in the blood sample.
  • the first driving system also drives the reagent box to reciprocately rotate around the first axis to mix the dye reagent in the reagent box.
  • the dyeing mechanism further includes a first dye solution recovery system, a first dye solution inlet system, and a first dye solution sealed container, the first dye solution recovery system is respectively connected to the first dye solution sealed container and the The dyeing box is communicated with each other, and is used to recover the corresponding first dye solution in the dyeing box to the first dye solution sealed container; the first dye solution inlet system is sealed with the first dye solution respectively The container communicates with the dyeing box, and is used for re-discharging the first dyeing solution in the first dyeing solution sealed container into the dyeing box.
  • the first dye solution path control system when there is no smear in the primary dye box that needs to be dyed or the first dye solution recovery instruction issued by the user is received, the first dye solution path control system will control the corresponding in the primary dye box The first dye solution is recovered to the first dye solution sealed container; when there are smears in the primary dye box that need to be dyed or after receiving the first dye solution instruction from the user, the first dye solution The liquid and liquid path control system discharges the first dye solution in the first dye solution sealed container into the primary dye box.
  • the dyeing mechanism further includes a first dye liquor discharge system, the first dye liquor discharge system is in communication with the primary dye box or the first dye liquor sealed container, when the first dye liquor reaches the discharge requirement At time or after receiving the first dye liquor discharge instruction issued by the user, the first dye liquor discharge system discharges the first dye liquor in the primary dye box or the first dye liquor sealed container.
  • the isolation box includes a dye accelerating box storing a buffer solution, and the dye accelerating box is used to buffer and clean the smear after the initial dyeing.
  • the isolation box further includes a first cleaning box containing a cleaning solution or a buffer solution, and the first cleaning box is used to treat the coating after the primary dyeing and/or after the dye accelerating box is processed.
  • the tablets are cleaned.
  • the kit further includes a second cleaning box containing a cleaning solution or a buffer solution, and the second cleaning box is used for cleaning the counterstained smear.
  • the primary dyeing box, the dyeing promotion box, the first cleaning box, the counter-dyeing box, and the second cleaning box are sequentially arranged on the base along the circumference of the base.
  • the slide pusher proposed by the present invention completes the work of loading slides, loading blood samples, and preparing smears by smearing blood samples through slide loading mechanism, sample loading mechanism and slide pushing mechanism. Then, the smear is dyed through the coordinated movement of the dyeing mechanism and the moving mechanism.
  • the staining mechanism drives the reagent box containing the dye reagent to rotate around the first axis through the first drive system, and the slide mechanism drives the manipulator carrying the smear to reciprocate and translate in the second direction through the second drive system, and then the reagent box and the manipulator After moving to the corresponding matching positions, the second driving system also drives the manipulator to move toward the reagent box to place or extract the smear from the insertion area formed by the placing part.
  • the film pusher of the application decomposes the motion of the manipulator in three degrees of freedom in space into the manipulator and the kit to complete the cooperation, which simplifies the mechanism of the manipulator and the complexity of the motion trajectory, improves the work efficiency of the film pusher, and reduces It takes up space and also reduces the cost of the pusher.
  • the present invention provides a method for controlling a film pusher, which includes the following steps:
  • the manipulator in the placement position is driven to move toward the first reagent box, so as to take out the smear that has been processed from the first reagent box And proceed to the next step;
  • first reagent box If the first reagent box is not in the splicing position, drive the base to rotate around the first axis to turn the first reagent cartridge back to the splicing position, and then drive the manipulator in the placement position Move toward the first kit to take out the smear that has been processed from the first kit and proceed to the next step.
  • the plurality of kits are used for storing dye solution reagents, and the driving base rotates around the first axis to make the first kit of the plurality of kits rotate to the connecting position, further comprising:
  • the base is driven around the first axis to rotate the mixed first kit to the connecting position.
  • the plurality of kits further includes a second kit, the first kit and the second kit are arranged along the circumference of the base, and the dye reagent in the first kit is The staining solution reagents in the second kit are different, and the smear is processed in the first kit first, and then processed in the second kit, the method further includes:
  • the manipulator is driven to move toward the second reagent box to place the smear into the second reagent box for second processing.
  • the plurality of kits further includes a third kit, the first kit, the second kit, and the third kit are arranged in sequence along the circumferential direction of the base, and the first kit
  • the staining solution reagents in the kit, the second kit and the third kit are different, and the smears are processed in the first kit, the second kit and the third kit in sequence
  • This method also includes:
  • the manipulator at the placement position is driven to move toward the first kit, so that the processed smear is taken out of the first kit for processing in the second kit.
  • the multiple reagent kits are used to store dye solution reagents
  • the dye solution reagents include primary dye reagents contained in the primary dye kit
  • the dye solution reagents further include dye accelerating reagents, cleaning reagents, and reproducing reagents.
  • One or more of the dye reagents corresponds to one or more of the staining promotion, cleaning, and counterstaining of the smear in the next step.
  • the dye solution reagent in the first kit is a primary dye reagent
  • the dye solution reagent in the second kit and the third kit are respectively a dye promoting reagent, a cleaning reagent or One of the counterstain reagents.
  • the dye solution reagent in the first kit is a dye accelerating reagent
  • the dye solution reagent in the second kit and the third kit is a cleaning reagent or a counterstaining reagent, respectively.
  • a dye accelerating reagent the dye solution reagent in the first kit
  • the dye solution reagent in the second kit and the third kit is a cleaning reagent or a counterstaining reagent, respectively.
  • the dye solution reagent in the first kit is a cleaning reagent
  • the dye solution reagent in the second kit and the third kit is one of a counterstain reagent or a cleaning reagent, respectively.
  • the dye solution reagent in the first kit is a counterstaining reagent
  • the dye solution reagent in the second kit and the third kit are both cleaning reagents.
  • the method for controlling the slide pusher of the present application also drives the kit and the manipulator separately after preparing the smear, so that the two cooperate to implement the action of inserting or removing the smear.
  • the three-degree-of-freedom motion originally completed by the manipulator is decomposed into the cooperation of the kit and the manipulator, which also simplifies the control complexity of the manipulator, and at the same time improves the work efficiency of the pusher, reduces the space occupied, and reduces the pusher The effect of the cost.
  • Figure 1 is a schematic diagram of the system framework of the film pusher of the present invention.
  • FIG. 2 is a schematic diagram of the dyeing mechanism and the moving mechanism in an embodiment of the film pusher of the present invention
  • Fig. 3 is a schematic diagram of a reagent kit in an embodiment of the pusher of the present invention.
  • Figure 4 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • Figure 5 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • FIG. 6 is a schematic diagram of the dyeing mechanism and the moving mechanism in another embodiment of the film pusher of the present invention.
  • Figure 7 is a schematic diagram of the dyeing mechanism and the moving mechanism in another embodiment of the film pusher of the present invention.
  • FIG. 8 is a schematic diagram of the dyeing mechanism and the moving mechanism in another embodiment of the film pusher of the present invention.
  • Fig. 9 is a schematic diagram of a film moving mechanism in another embodiment of the film pusher of the present invention.
  • Figure 10 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • Figure 11 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • Figure 12 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • Figure 13 is a schematic diagram of the dyeing mechanism in another embodiment of the pusher of the present invention.
  • Figure 14 is a flow chart of the control method of the film pusher of the present invention.
  • step S30 is a flowchart of sub-steps of step S30 in the method of controlling the pusher of the present invention.
  • 16 is a flowchart of another embodiment of a method for controlling a film pusher of the present invention.
  • Fig. 17 is a flowchart of another embodiment of a method for controlling a film pusher of the present invention.
  • connection and “connection” mentioned in this application include direct and indirect connection (connection) unless otherwise specified.
  • connection connection
  • the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the level of the first feature is smaller than the second feature.
  • the slide pusher 100 shown in FIG. 1 can be used to prepare smears for blood, body fluid and other samples.
  • the slide pusher 100 includes a slide loading mechanism 10, a sample loading mechanism 20, a slide pushing mechanism 30, a staining mechanism 40 and a slide moving mechanism 50.
  • the slide loading mechanism 10 is used to extract the slides and load the slides to the corresponding position to facilitate the sample loading operation. Before the glass slide is extracted, operations such as left and right inspection of the glass slide and glass slide cleaning can also be performed, and then the glass slide is loaded by the slide loading mechanism 10.
  • the slide loading mechanism 10 can also print relevant information on the loaded slides, and perform operations such as detecting the front and back of the slides.
  • the slide pushing mechanism 30 After the sample adding needle of the sample adding mechanism 20 drops the sample onto the glass slide, the slide pushing mechanism 30 performs a slide pushing operation, and the slide pushing mechanism 30 pushes the blood sample on the slide into a blood film shape.
  • the blood film on the slide glass can be dried to stabilize its shape, so that the slide glass after sample loading can be prepared as a smear 200.
  • the glass slide can be driven to turn over before the blood film is dried to meet corresponding requirements.
  • the dried smear 200 can also be tested for drying to determine the effect of blood film drying.
  • the dried smear 200 can also be tested for blood film expansion to determine whether the blood film is expanded and whether the expanded state meets the requirements.
  • the slide pusher 100 completes the loading of slides, blood sample loading, and blood sample wiping through the slide loading mechanism 10, the sample loading mechanism 20, and the slide pushing mechanism 30, and prepares the smear 200 for microscopic examination.
  • the dyeing mechanism 40 includes a reagent box 41 and a first driving system 42.
  • the kit 41 is used to store dye reagents.
  • the top of the kit 41 is provided with an opening 411 to facilitate the disposal of the smear 200 into the kit 41 from the opening 411.
  • the dye solution reagents fully contact the reaction to achieve the dyeing effect.
  • the kit 41 includes at least one mounting part 44.
  • the mounting part 44 is used to form an insertion area (not shown in the figure) for inserting the smear 200, so that the smear 200 can be fixedly positioned when it is accommodated in the insertion area, and is immersed in the dye solution reagent contained in the reagent box 41.
  • the mounting part 44 can be detachably fixed in the kit 41, or can be a structure such as a slot integrally formed on the inner wall of the kit 41.
  • the tablet pusher 100 of the present application does not specifically limit the implementation details of the mounting part 44.
  • the reagent box 41 is movably set in the film pusher 100, and the reagent box 41 can perform a single degree of freedom rotational movement in the film pusher 100.
  • the first driving system 42 is used to drive the reagent cartridge 41 to rotate around the first axis 001 to cooperate with the action of the slide mechanism 50 to complete the operation of placing and removing the slide.
  • the slide mechanism 50 includes a manipulator 51 and a second driving system 52.
  • the manipulator 51 is used to extract the smear 200 formed by the preparation of the glass slide, and place the smear 200 into the kit 41 for staining.
  • the movement direction of the manipulator 51 includes a second direction 002, and the second direction 002 is set differently from the first axis 001 of the kit 41.
  • the manipulator 51 reciprocates and translates along the second direction 002 to cooperate with the action of the dyeing mechanism 40 to complete the film placement and take-out.
  • the reciprocating and translational movement of the manipulator 51 in the second direction 002 is driven by the second driving system 52.
  • the pusher 100 is provided with a matching position 01 corresponding to the reagent box 41 and the manipulator 51 at the same time.
  • the first driving system 42 drives the reagent cartridge 41 to rotate around the first axis 001 to the matching position 01
  • the second driving system 52 drives the manipulator 51 to translate in the second direction 002 to the matching position 01
  • the reagent cartridge 41 and the manipulator 51 are in cooperation Bit 01 is in the state corresponding to the position. That is, the manipulator 51 is facing the opening 411 of the reagent cartridge 41.
  • the second driving system 52 also drives the manipulator 51 to move toward the reagent box 41 to dispose of the smear 200 carried on the manipulator 51 from the opening 411 into the reagent box 41 for dyeing operation, or to complete the dyeing operation in the reagent box 41
  • the smear 200 is taken out from the opening 411. It is understandable that the manipulator 51 puts the smear 200 into the insertion area formed by at least one mounting part 44 in the kit 41 for dyeing operation, or removes the smear 200 contained in the insertion area from the kit 41.
  • the slide pusher 100 of the present application because the reagent box 41 and the manipulator 51 are movably arranged inside the slide pusher 100, the reagent box 41 and the manipulator 51 can move in cooperation with each other, so that the slide transfer mechanism 50 drives the smear 200 in the slide pusher 100.
  • the three-degree-of-freedom movement inside 100 is decomposed into the cooperation and cooperation of the reagent box 41 and the manipulator 51.
  • the single-degree-of-freedom rotational movement of the reagent cartridge 41 driven by the first driving system 42 is relatively simple, which can be realized by a structure such as a sliding rail or a central axis arranged around the first axis 001.
  • the second driving system 52 drives the manipulator 51 to move in translation along the second direction 002, which can also be realized by a sliding rail and other structures arranged along the second direction 002. Further, the second driving system 52 drives the manipulator 51 to move toward the reagent cartridge 41 at the matching position 01, which is also a single-degree-of-freedom movement, which can also be achieved by structures such as a telescopic mechanism or a sliding rail set toward the opening 411.
  • the rotation movement of the reagent cartridge 41 around the first axis 001 by the first drive system 42 and the translation movement of the manipulator 51 along the second direction 002 by the second drive system 52 are both single-degree-of-freedom movements, which can be performed simultaneously and separated. Control, will not affect each other.
  • the second driving system 52 drives the manipulator 51 to move toward the reagent cartridge 41 in a single degree of freedom. Separate the original multiple degrees of freedom independently to reduce the requirements on the accuracy of a single manipulator component, thereby reducing the production cost.
  • the movements of the manipulator 51 and the reagent box 41 in each degree of freedom are single-degree-of-freedom movements, and the three single-degree-of-freedom movements are controlled separately.
  • the internal mechanism of the film pusher 100 of the present application is simplified and easy to control. And because the rotation of the reagent box 41 and the translation of the manipulator 51 do not affect each other, the two can perform relative motions at the same time. Compared with the case of the manipulator 51 moving alone, the displacement stroke is shortened and multi-directional motion synthesis is avoided. The speed of the manipulator 51 is kept constant. In this case, the working efficiency of the film pusher is improved, and at the same time, the internal space occupation of the film pusher 100 can be reduced, and the cost of the film pusher 100 can be reduced.
  • the dyeing mechanism 40 is provided with a connecting position 401 and a storage position 402 corresponding to the reagent box 41.
  • the splicing position 401 and the storage position 402 have different rotation angles in the direction around the first axis 001, so that the first drive system 42 drives the reagent cartridge 41 to be positioned between the splicing position 401 and the storage position 402 Switch.
  • the splicing position 401 corresponds to the matching position 01 where the reagent box 41 and the manipulator 51 perform the operation of transferring the smear 200.
  • the first driving system 42 can drive the reagent box 41 to rotate to the storage position 402.
  • the staining mechanism 40 needs to put the smear 200 into the kit 41, or the smear 200 in the kit 41 is dyed and needs to enter the next operation
  • the first driving system 42 drives the kit 41 to rotate around the first axis 001 , In order to return to the position of the splicing position 401, so as to cooperate with the manipulator 51, put the smear 200 into the reagent box 41 located at the splicing position 401, or the robot 51 will remove the smear 200 from the splicing position 401 Take out the kit 41.
  • the dyeing mechanism 40 also includes a base 43 connected between the reagent box 41 and the first driving system 42.
  • the first driving system 42 drives the reagent cartridge 41 to rotate about the first axis 001 by driving the base 43 to rotate about the first axis 001.
  • the base 43 is circular, and the first drive system 42 can drive the reagent cartridge 41 to always rotate in the first rotation direction around the first axis 001, so that the reagent cartridge 41 can be placed in the storage position 402 and the connecting piece. Position switching between bits 401.
  • the base 43 can also be set in a fan shape, and the first driving system 42 drives the reagent cartridge 41 to rotate around the first axis 001 in the first rotation direction, and then rotate in the reverse direction of the first rotation direction. In this way, the reciprocating rotation can make the reagent cartridge 41 switch between the storage position 402 and the slice position 401.
  • the foregoing embodiments can achieve the effect that the first driving system 42 drives the base 43 to rotate around the first axis 001 and drives the reagent cartridge 41 to switch between the storage position 402 and the connecting position 401.
  • the reagent box 41 contains the dye solution reagent, and the reagent box 41 needs to rotate around the first axis 001 to switch between the connecting position 401 and the storage position 402, in order to avoid the dye solution reagent
  • the position is switched under the driving of, it can always be on the first horizontal plane 004 without vertical displacement.
  • the rotation of the reagent box 41 on the first horizontal plane 004 to switch between the connecting position 401 and the storage position 402 can ensure the stable loading of the dye reagent in the reagent box 41, and avoid overflowing the reagent box 41 and cause the dye reagent to be damaged. Unnecessary waste.
  • the film pusher 100 can set a plurality of reagent kits 41 in the dyeing mechanism 40.
  • the multiple reagent boxes 41 can store different staining solution reagents to correspond to different staining operations of the smear 200 by the staining mechanism 40.
  • the staining mechanism 40 is provided with at least one splicing position 401 corresponding to each reagent box 41, and each reagent box 41 is placed at its corresponding splicing position 401 by the manipulator 51 to insert the smear 200, or to apply the smear The sheet 200 is taken out of the kit 41.
  • a plurality of reagent boxes 41 are arranged in sequence around the first axis 001 at different rotation angles, that is, the plurality of reagent boxes 41 are arranged in sequence along the circumference of the base 43. It is understandable that at this time, the multiple splice positions 401 corresponding to the multiple reagent kits 41 are also arranged around the first axis 001, or described as being arranged along the circumferential direction of the base 43.
  • the manipulator 51 needs to operate corresponding to different reagent cartridges 41, the manipulator 51 can be kept still, and the base 43 is driven to rotate around the first axis 001 through the first drive system 42 to drive the corresponding different reagent cartridges 41 to them one after another.
  • a corresponding matching position 01 is formed with the manipulator 51, and the second driving system 52 drives the manipulator 51 to move to different reagent cartridges 41 successively to realize the operation of inserting or removing the smear 200.
  • the multiple reagent cartridges 41 are arranged along the circumferential direction of the base 43, which can keep the manipulator 51 still, and only drive the reagent cartridge 41 to rotate to form a cooperating state of multiple cooperating positions 01, and carry out multiple subsequent operations in an orderly manner.
  • the kit is also provided with at least one mounting part 44, as shown in FIG. 3, the arrangement of multiple mounting parts 44 can make each kit 41 form multiple insertion areas, and a single kit 41 can accommodate A plurality of smears 200 realize batch processing of the smears 200 by the kit 41.
  • the arrangement of the mounting parts 44 in the reagent box 41 may be as shown in FIG. 3, and arranged along the radial direction of the base 43.
  • each insertion area is also arranged in the radial direction of the base 43.
  • the second direction 002 can be set to be parallel to the radial direction of the base 43 to facilitate the translation operation of the manipulator 51.
  • a plurality of mounting parts 44 are also arranged along the circumference of the base 43 in the kit 41.
  • the dyeing mechanism 40 also needs to refine a plurality of sub-splicing positions (not shown in the figure) in the splicing positions 401 corresponding to the kit 41, and the reagent box 41 can interact with the manipulator 51 on each sub-splicing position.
  • the mating position 01 is formed, and when the manipulator 51 moves toward the reagent box 41, the smear 200 can be inserted into the insertion area corresponding to the sub-splicing position, or the smear 200 can be taken out from the insertion area corresponding to the sub-splicing position.
  • the difference between the embodiment of FIG. 6 and the embodiments of FIGS. 2, 4, and 5 is that when the smear 200 is arranged along the radial direction of the base 43, the grip angle of the manipulator 51 on the smear 200 is It needs to be turned accordingly, and the smear 200 on the sub-splicing position should be placed along the radial direction of the base 43.
  • the second direction 002 needs to pass through the first axis 001 so that the manipulator 51 can correspondingly place or extract the smear 200 in each sub-splicing position.
  • the embodiment of FIG. 7 can also be used.
  • the second direction 002 is arranged in a manner tangent to the rotation track of the base 43, so that when the manipulator 51 moves to the mating position 01, the smear 200 held by it is along the diameter of the base 43. It is placed above the reagent box 41. Then, the manipulator 51 moves toward the reagent box 41 to place the smear 200 into the reagent box 41.
  • the above-mentioned manner of cooperation between the manipulator 41 and the reagent box 41 can achieve the effect of arranging multiple mounting parts 44 in the same reagent box 41 to form multiple insertion areas to accommodate multiple smears 200.
  • the reagent kit 41 needs to prepare a mixture of dye and buffer in a certain proportion according to the different reagents contained in the dye solution, or refill the dye solution after the reagent is consumed and volatilized. operating. If the reagent box 41 is in a static state, different components or different liquids in the reagent box 41 are prone to layering. At this time, if the manipulator 51 is driven to extend into the opening 411 of the reagent box 41 for mixing, on the one hand, the manipulator 51 may contaminate the dye reagent, on the other hand, the manipulator 51 after mixing will take away part of the dye reagent, causing inconvenience. The necessary dye solution reagent is consumed.
  • the first driving system 42 can be used to drive the reagent box 41 to reciprocately rotate around the first axis 001 to mix the dye reagent in the reagent box 41, and then the first driving system 42 drives the reagent box 41 to rotate to the connecting position 401 The placed smear 200 is received.
  • the first driving system 42 reciprocally drives the reagent box 41 to rotate quickly based on the mixing requirement, which can effectively eliminate the layering phenomenon of the dye solution reagent in the reagent box 41, and the mixed dye solution reagent can also more effectively perform the smear 200 Dyeing and other operations.
  • a sealing cover is usually added to the upper opening position to prevent the volatilization of the dye reagent.
  • setting the sealing cover will affect the operation of the manipulator. For this reason, please refer to Fig. 8 for an embodiment.
  • the upper opening 411 of the tablet pusher 100 is usually provided with a sealing cover to prevent the evaporation of the dye reagent.
  • the fixed setting of the sealing cover relative to the reagent box will interfere with the slide access operation of the manipulator.
  • the staining mechanism 40 is provided with a fixed cover 45 at a position corresponding to the storage position 402 of the reagent box 41.
  • the cover plate 45 is higher than the opening 411 of the reagent box 41 in the vertical direction, so that when the first driving system 42 drives the reagent box 41 in the storage position 402, the cover plate 45 is covered on the opening 411 of the reagent box 41.
  • the dye solution reagent in the kit 41 is sealed and protected. It is understandable that the cover plate 45 can prevent volatilization of the dye solution reagent on the one hand, and can also cover the opening 411 to prevent impurities from falling into the reagent box 41 when the dyeing mechanism 40 is in a non-working state. Reagents cause contamination. Further, the cover plate 45 is also provided with a notch 451 corresponding to the splicing position 401. The notch 451 is used to allow the manipulator 51 to pass through and dispose the smear 200 from the opening 411 into the kit 41 for staining, or remove the smear from the kit 41. ⁇ 200.
  • a blank position can be set between adjacent reagent boxes 41 on the base.
  • the notch 451 can be aligned with the blank position on the base, so that all the reagent boxes 41 are in a closed state.
  • the height of the smear 200 in the kit 41 can be controlled by setting the mounting part 44, so that the gap between the cover plate 45 and the opening 411 of the kit 41 is reduced, and a better sealing effect is achieved. . Even the smear 200 is completely contained in the reagent box 41, so that the cover plate 45 and the reagent box 41 directly cooperate to achieve a better sealing effect.
  • a downwardly extending cover edge 452 may be provided on the edge of the cover plate 45, and the cover edge 452 is matched with the side wall 412 of the reagent box 41 to achieve a better sealing effect.
  • the film moving mechanism 50 On the moving path of the manipulator 51, the film moving mechanism 50 is provided with a film taking position 502 and a placement position 501 corresponding to the manipulator 51. It can be understood that the film taking position 502 and the placing position 501 are aligned with each other in the second direction 002, so that the second driving system 52 drives the manipulator 51 to switch between the film taking position 502 and the placing position 51.
  • the placement position 501 corresponds to the matching position 01 where the reagent box 41 and the manipulator 51 perform smear 200 operation and transfer.
  • the second driving system 52 includes a first driving device (not shown in the figure), and the second driving system 52 is driven by the first driving device to drive the manipulator 51 to switch between the film taking position 502 and the placing position 501.
  • the manipulator 51 extracts the smear 200 that needs to be stained at the picking position 502; the manipulator 51 cooperates with the reagent box 41 at the placing position 501, so that the smear 200 can be placed in or from the reagent box 41 Take out the smear 200.
  • the second driving system 52 further includes a second driving device (not shown in the figure).
  • the second driving device is used to drive the manipulator 51 to move toward the reagent box 41 when the manipulator 51 is in the placement position 501 to place the smear 200 into the reagent box 41 or take out the smear 200 from the reagent box 41.
  • the second driving system 52 drives the robot 51 to move between the placing position 501 and the film taking position 502 through the first driving device and the second driving device, and drives the robot 51 to move toward the reagent cartridge 41, so that the robot 51 moves It is also divided into two-degree-of-freedom unidirectional reciprocating motion.
  • the motion trajectory of the manipulator 51 of the film pusher 100 of the present application is simplified, and through the decomposition of the degrees of freedom, the defect of high coupling control accuracy of the manipulator 51 caused by the coupling movement is further reduced. The requirement for single component accuracy is reduced, thereby reducing the manufacturing cost of the pusher 100.
  • the first driving device should also drive the manipulator 51 to translate horizontally in the second horizontal plane 005 to realize the manipulator 51 in the film taking position 502 and placing Position switching between bits 501.
  • Setting the manipulator 51 to also perform horizontal movement can give the manipulator 51 a larger range of motion under the same translation distance of the manipulator 51. Or it can be described as that when the manipulator 51 is moving within a fixed range, the manipulator 51 adopts a horizontal translation mode to control its movement stroke to a minimum. It is understandable that the smaller the moving stroke of the manipulator 51 is, the lower the load of the first driving device is, which can improve the working efficiency of the film pusher 100 and reduce the power consumption.
  • the second driving device drives the manipulator 51 toward the direction of movement of the reagent cartridge 41, and may be set in a vertical direction. That is, the second driving device drives the manipulator 51 in the placement position 501 to reciprocate and translate in the vertical direction to place the smear 200 into the reagent box 41 or take the smear 200 out of the reagent box 41.
  • the opening 411 of the reagent box 41 is at the upper part of the reagent box 41, and moves in the vertical direction toward the reagent box 41 to insert or remove the smear 200. It can also shorten the movement distance of the second driving device and speed up the processing speed of the second driving device.
  • the smear 200 is mostly rectangular strips.
  • the smear 200 enters and exits the reagent box 41 in the vertical direction, which also fits the shape of the smear 200 to a large extent, avoiding the robot 51 and the reagent box 41 from appearing at the matching position 01. Damage to the smear 200 after the alignment error.
  • the reagent box 41 can cooperate with the manipulator 51 to rotate under the drive of the first driving system 42, and the manipulator 51 only needs to perform the first step with respect to the reagent box 41.
  • the first driving device drives the manipulator 51 to move to the placement position 501
  • the projection of the manipulator 51 on the first horizontal plane 004 is located within the rotation path of the reagent cartridge 41, that is, on the base 43; the first driving device drives the manipulator
  • the projection of the manipulator 51 on the first horizontal plane 004 is outside the rotation path of the reagent cartridge 41, that is, outside the base 43. Therefore, the film pusher 100 forms two accommodating spaces 006 above the first horizontal plane 004 at two sides corresponding to the traveling direction of the manipulator 51.
  • the accommodating space 006 does not need to reserve space for the movement of the manipulator 51, so that the accommodating space 006 can be used to store the remaining components of the film pusher 100, thereby saving a part of the space volume inside the film pusher 100, so that The internal mechanism arrangement of the tablet machine 100 is more compact, which is beneficial to the overall volume control of the tablet machine 100.
  • the base 43 is circular.
  • the manipulator 51 at the film taking position 502 is farther from the center of the base 43 than the manipulator 51 at the placement position 501.
  • the manipulator 51 corresponding to the placement position 501 also forms an accommodating space 006 toward the other side of the center of the base 43, and the accommodating space 006 is connected to the corresponding manipulator 51 to travel.
  • the projection of the second direction 002 on the first horizontal plane 004 may pass through the center of the base 43.
  • the two accommodating spaces 006 formed on the two sides of the moving direction of the manipulator 51 are connected through the accommodating space 006 on the other side of the center of the circle, and a large accommodating space 006 is formed inside the pusher 100. Since the storage space 006 is not in the movement track of the manipulator 51, there is no need to reserve space for the movement of the manipulator 51, so that the entire storage space 006 can be used to store the remaining components of the wafer pusher 100, such as air pumps, cylinders, and hydraulics. One or more of the circuit system and control circuit board. The inside of the film pusher 100 saves a larger space and volume, which further facilitates the arrangement of the internal mechanisms of the film pusher 100 to control the overall volume of the film pusher 100.
  • the dyeing process of the smear 200 in the dyeing mechanism 40 usually requires multiple dyeing processes, and the smear 200 needs to be dyed and cleaned between the multiple dyeing processes to ensure that the dye is dyed.
  • the processed smear 200 gets better observation effect during microscopic examination. Therefore, the multiple kits 41 usually include a primary staining box 410 and an isolation box 420, and in some embodiments, a counterstaining box 430 may also be included.
  • the primary staining box 410 stores a primary staining solution (or called primary staining reagent) for primary staining of the smear 200.
  • the first dye solution is a mixture of the first biological dye and the second biological dye, wherein the first biological dye can stain the acidophilic substance in the blood sample, and the second biological dye can stain the basophilic substance in the blood sample.
  • Reagents are stored in the isolation box 420, which are used for staining and/or cleaning the blood sample after the initial staining and before counterstaining.
  • the counterstaining box 430 stores a second staining solution (or called a counterstaining reagent) for counterstaining the smear 200.
  • the second staining solution is a mixture of a third biological dye and a buffer, and the third biological dye can Stain acidophils or basophils in blood samples.
  • the first dye solution is Wright-Giemsa dye
  • the Wright-Giemsa dye includes eosin dye and methylene blue dye.
  • the second dye solution is a mixture of Giemsa dye and buffer, and the Giemsa dye contains methylene blue dye as the third biological dye.
  • the second dye solution can also be replaced with a mixture of other dye solution with methylene blue dye and buffer solution, such as Liu's B dye solution.
  • the vertical dip dyeing method is commonly used.
  • the dyeing process is basically imitated by manual operation (such as Mindray’s SC-120, sysmex’s SP-10, etc.).
  • the dyeing is realized in a small container.
  • the internal dye solution reagents (including the first dye solution, the second dye solution, buffer solution, cleaning solution, etc.) are discharged after a single use, and there is a large waste.
  • the other type uses soaking and staining methods (such as sysmex's SP-50, RAL's RAL Stainer, etc.) to save costs.
  • the slides are cyclically soaked in a large kit that can accommodate multiple slides, so that the reagents can be recycled. Please refer to FIG.
  • the dyeing mechanism 40 further includes a first dye solution recovery system 4101, a first dye solution inlet system 4102, and a first dye solution sealed container 4103.
  • the first dye liquor recovery system 4101 is respectively communicated with the first dye liquor sealed container 4103 and the primary dye box 410.
  • the first dye liquor recovery system 4101 is used to recover the corresponding first dye liquor in the primary dye box 410 to the first dye liquor.
  • the first dye liquor inlet system 4102 is respectively communicated with the first dye liquor sealed container 4103 and the primary dye box 410.
  • the first dye liquor inlet system 4102 is used to discharge the first dye liquor in the first dye liquor sealed container 4103 again To the first dye box 410.
  • the first dye solution sealed container 4103 can be used to store the first dye solution.
  • the first dye solution is fed into the initial dye solution from the first dye solution sealed container 4103 through the first dye solution inlet system 4102.
  • the first dye solution in the first dye box 410 is recovered into the first dye solution sealed container 4103 through the first dye solution recovery system 4101, so that the first dye solution can be more reliable.
  • the preservation of the first dye solution to a large extent avoids contamination of the first dye solution by impurities or volatilization loss, so as to facilitate the recycling of the first dye solution.
  • the first dye liquor recovery system 4101 may also include a first dye liquor recovery pipeline 4104 and a first dye liquor suction pressure source 4105.
  • the first dye solution recovery system 4101 is respectively connected with the primary dye box 410 and the first dye solution sealed container 4103 through the first dye solution recovery pipeline 4104, and the first dye solution suction pressure source 4105 is used for the The first dye solution is sucked into the first dye solution sealed container 4103; the first dye solution inlet system 4102 may further include a first dye solution inlet pipe 4106 and a first dye solution inlet pressure source 4107.
  • the first dye liquor inlet system 4102 is respectively connected to the primary dye box 410 and the first dye liquor sealed container 4103 through the first dye liquor inlet pipe 4106, and the first dye liquor inlet pressure source 4107 seals the first dye liquor container
  • the first dye solution in 4103 is discharged into the primary dye box 410.
  • the first dye liquor recovery pipe 4104 and the first dye liquor inlet pipe 4106 may be the same pipe, and the first dye liquor inlet pressure source 4105 and the first dye liquor suction pressure source 4107 may be The same source of stress.
  • the first dye solution recovery system 4101 when there is no smear 200 in the dye box 410 to be dyed, or the pusher 100 receives the first dye solution recovery instruction issued by the user, the first dye solution recovery system 4101 will The corresponding first dye solution is recovered into the first dye solution sealed container 4103 for storage.
  • the first dye liquor inflow system 4102 seals the first dye liquor in the container 4103. The first dye solution is discharged into the primary dye box 410.
  • the film pusher 100 can also automatically perform the recovery of the first dye solution.
  • the slide pusher 100 can automatically control the recovery of the first dye solution by judging whether there is a smear 200 that needs to be dyed.
  • the specific judgment method includes: there was no smear 200 in the dye box 410 and no smear 200 to be dyed was dyed. At the time of delivery, and/or when the idle time of the primary dye box 410 exceeds a preset value.
  • the dyeing mechanism 40 further includes a first dyeing liquid discharge system 4108.
  • the first dye liquor discharge system 4018 is in communication with the primary dye box 410 or the first dye liquor sealed container 4103.
  • the first dye liquor discharge system 4108 is used to discharge the first dye liquor in the primary dye box 410 or the first dye liquor sealed container 4103.
  • the dyeing mechanism 40 may also include a liquid path system of the counterstaining box 430 similar in configuration to the primary dyeing box 410.
  • the dyeing mechanism 40 further includes a second dye liquor recovery system 4301, a second dye liquor inlet system 4302, and a second dye liquor sealed container 4303.
  • the second dye liquor recovery system 4301 is respectively communicated with the second dye liquor sealed container 4303 and the counterstain box 430.
  • the second dye liquor recovery system 4301 is used to recover the corresponding second dye liquor in the counter dye box 430 to the second dye liquor. Seal the container 4303 inside.
  • the second dye liquor inlet system 4302 is respectively communicated with the second dye liquor sealed container 4303 and the counter dye box 430, and the second dye liquor inlet system 4302 is used for re-discharging the second dye liquor in the second dye liquor sealed container 4303 To the counterstaining box 430.
  • the second dye solution sealed container 4303 can be used to store the second dye solution.
  • the second dye solution is fed into the second dye solution from the second dye solution sealed container 4303 through the second dye solution inlet system 4302.
  • the second dye solution in the counter dye box 430 is recovered into the second dye solution sealed container 4303 through the second dye solution recovery system 4301, which can perform the second dye solution more reliably
  • the preservation of the second dye solution to a large extent avoids the phenomenon of contamination of impurities or volatilization loss of the second dye solution, so as to facilitate the recycling of the second dye solution.
  • the second dye liquor recovery system 4301 may also include a second dye liquor recovery pipeline 4304 and a second dye liquor suction pressure source 4305.
  • the second dye solution recovery system 4301 is respectively connected to the counter dye box 430 and the second dye solution sealed container 4303 through the second dye solution recovery pipeline 4304, and the second dye solution suction pressure source 4305 is used to remove the The second dye liquor is sucked into the second dye liquor sealed container 4303;
  • the second dye liquor inlet system 4302 may further include a second dye liquor inlet pipe 4306 and a second dye liquor inlet pressure source 4307.
  • the second dye liquor inlet system 4302 communicates with the counter dye box 430 and the second dye liquor sealed container 4303 through the second dye liquor inlet pipe 4306, and the second dye liquor inlet pressure source 4307 seals the second dye liquor container
  • the second dye solution in 4303 is discharged into the counter dye box 430.
  • the second dye liquor recovery pipe 4304 and the second dye liquor inlet pipe 4306 may be the same pipe, and the second dye liquor inlet pressure source 4305 and the second dye liquor suction pressure source 4307 may be The same source of stress.
  • the second dyeing solution recovery system 4301 when there is no smear 200 in the counterstaining box 430 to be dyed, or after the pusher 100 receives the second dyeing solution recovery instruction issued by the user, the second dyeing solution recovery system 4301 will counterstain the box 430 The corresponding second dye solution inside is recovered to the second dye solution sealed container 4303 for storage.
  • the second dye liquor inflow system 4302 seals the second dye liquor in the container 4303 The second dye solution is discharged into the counter dye box 430.
  • the pusher 100 can also automatically perform the recovery action of the second dye solution.
  • the slide pusher 100 can automatically control the recovery of the second dye solution by judging whether there is a smear 200 that needs to be dyed.
  • the specific judgment method includes: when there is no smear 200 in the counterstaining box 430 and no smear 200 to be dyed When being sent in, and/or when the idle time of the counterstaining box 430 exceeds a preset value.
  • the dyeing mechanism 40 further includes a second dyeing liquid discharge system 4308.
  • the second dye liquor discharge system 4018 is in communication with the counter dye box 430 or the second dye liquor sealed container 4303.
  • the second dye liquor discharge system 4308 is used to discharge the second dye liquor in the counter dye box 430 or the second dye liquor sealed container 4303.
  • the isolation box 420 includes a stain accelerating box 422 storing a buffer solution.
  • the dye accelerating box 423 is used for buffering and cleaning the smear 200 after initial dyeing.
  • the isolation box 420 further includes a first cleaning box 421 containing a cleaning solution or a buffer solution.
  • the first cleaning box 421 is used for buffering and cleaning after the initial dyeing and/or the dyeing box 422 The smear 200 is cleaned.
  • the kit 41 further includes a second cleaning box 440 containing a cleaning solution or a buffer solution.
  • the second cleaning box 440 is used to clean the counter-stained smear 200.
  • the primary dyeing box 410, the dyeing promotion box 422, the first cleaning box 421, the counter dyeing box 430, and the second cleaning box 440 circumvent the first dyeing box in order.
  • An axis 001 is arranged on the base 43, that is, the reagent kits 41 are arranged on the base 43 sequentially along the circumference of the base 43.
  • the manipulator 51 can sequentially move and perform corresponding operations corresponding to the respective reagent kits 41 to complete the staining process of each step of the smear 200 in sequence.
  • This arrangement can make the structure of the film pusher 100 more compact, and can minimize the rotation angle that the kit 41 needs to drive each time the rotation process of the film connecting position 401 enters the next operation, thereby improving the dyeing efficiency.
  • the primary dyeing box 410, the dye accelerating box 422, the first cleaning box 421, the counter dyeing box 430, and the second cleaning box 440 can be formed integrally or separately.
  • the film pusher 100 of the present application only limits the sequence of the primary dyeing box 410, the dyeing promotion box 422, the first cleaning box 421, the counterstaining box 430, and the second cleaning box 440, and does not limit various reagents.
  • the cleaning liquid or buffer solution in the plurality of first cleaning boxes 421 may be different, or the matching ratio may be different, and the robot 51 will
  • the sheet 200 is sequentially placed in different first cleaning boxes 421 for cleaning, so as to achieve a better cleaning effect.
  • the number of first cleaning boxes 421 can also be set to zero in the film pusher 100, and the smear 200 can be cleaned by the dye accelerating box 422, which can also achieve a buffering effect.
  • the smear 200 is cleaned once or more than once by using a buffer solution or a cleaning solution, depending on the cleaning effect and requirements.
  • only the primary dyeing box 410, the dye accelerating box 422, and the first cleaning box 421 may be arranged in sequence, that is, the smear 200 is dyed only once, which can also be used as a complete dyeing process and will be carried out.
  • the smear 200 of one staining process flows to the microscopic inspection step.
  • the above embodiments all belong to the scope of protection required by the pusher 100 of the present application.
  • the present invention also proposes a method for controlling a film pusher, which specifically includes the following steps:
  • the manipulator 51 at the placement position 501 is driven to move toward the first reagent box 4001, so as to remove the finished smear 200 from the first reagent box 4001 and proceed to the next step. ;
  • the base 43 is driven to rotate around the first axis 001 to turn the first reagent box 4001 back to the connecting position 401, and then the manipulator 51 in the placing position 501 is driven toward the first reagent
  • the cassette 4001 is moved to remove the smear 200 that has been processed from the first reagent cassette 4001 and proceed to the next step.
  • the control method of the slide pusher also includes the preparation of the smear 200, and then drives the manipulator 51 to extract the smear 200 to be dyed.
  • the first kit 4001 is the first dyeing box 410, and the manipulator 51 needs to pick up the smear 200 at the film picking position 502, and then drive the manipulator 51 to translate along the second direction 002 to The placement position 501 cooperates with the primary dye box 410 to place the smear 200.
  • the first kit 4001 may also be other kits 41 for processing the smear 200 during the staining process.
  • the robot 51 does not need to extract the smear from the picking position 502. ⁇ 200.
  • multiple reagent boxes 41 need to be connected to the base 43, and then rotate with the base 43 around the first axis 001, so that the base 43 can drive the first reagent box 4001 of the multiple reagent boxes 41 to the interface that cooperates with the manipulator 51.
  • the manipulator 51 is driven to move toward the first reagent box 4001 to place the smear 200 into the first reagent box 4001 to process the smear 200.
  • the remaining reagent kits 41 may also need to cooperate with the manipulator 51 to achieve access to the slide. Therefore, after the smear 200 in the first kit 4001 is processed, the position of the first kit 4001 needs to be confirmed before proceeding to the next operation.
  • the manipulator 51 can be directly driven to move toward the first reagent box 4001 to take out the smear 200; when the first reagent box 4001 is not in its corresponding connecting position
  • the base 43 needs to be driven to rotate, the first reagent box 4001 is rotated to its corresponding film position 401, and then the smear 200 is taken out.
  • the control method of the slide pusher 100 is the same as that of the device embodiment, and the staining operation of the smear 200 is realized by the coordinated movement of the reagent box 41 and the manipulator 51. Because in the process of matching and aligning the reagent box 41 and the manipulator 51, it is only necessary to drive the reagent box 41 to rotate around the first axis 001 and to drive the manipulator 51 to move in translation along the second direction 002, so the control logic is relatively simple. Easy to implement. Moreover, single-degree-of-freedom rotation or translation motion is conducive to precision control.
  • the present control method also adopts the solution of decomposing the three-degree-of-freedom motion originally completed by the manipulator alone into the cooperation of the reagent box 41 and the manipulator 51.
  • the control method of the film pusher simplifies the control complexity of the manipulator, and avoids the defects of complicated control logic and difficult control precision caused by the multi-degree-of-freedom motion coupling.
  • the film pusher 100 adopting the control method of the film pusher improves work efficiency, reduces the occupation of internal space, and at the same time has the effect of reducing costs.
  • FIG. 15 is a flowchart of the sub-steps of S30 in the step of FIG. 14.
  • the reagent box 41 is used to store dye reagents
  • the first reagent box 4001 stores dye reagents for processing the smear 200.
  • the method may further include:
  • the reagent box 41 needs to prepare a mixture of dye and buffer in a certain proportion according to the different reagents contained in the dye solution, or perform refill operation after the dye solution reagent is consumed and volatilized. . If the reagent box 41 is in a static state, different components or different liquids in the reagent box 41 are prone to layering. Therefore, this method can use the first driving system 42 to drive the kit 41 to reciprocate translation around the first axis 001 to mix the dye reagents in the kit 41, which includes the first dye kit 4001 used for the initial staining. The mixing operation of the primary dye reagent.
  • the mixing action of the base 43 on the dye solution reagent in the first reagent kit 4001 also acts on the dye solution in the other reagent kits 41 among the plurality of reagent kits 41 and is mixed. Then, the first driving system 42 drives the first reagent cartridge 4001 to rotate to the spreading position 401 to receive the placed smear 200.
  • the dyeing process of the smear 200 in the film pusher 100 in the dyeing mechanism 40 usually requires multiple dyeing processes, and the smear 200 needs to be dyed and cleaned between the multiple dyeing processes. Only treatment can ensure a better observation effect during microscopic inspection of the stained smear 200.
  • kits 41 are used to store different staining solution reagents, wherein the staining solution reagents include the primary staining reagents contained in the primary staining box 410, and further include a stain-promoting reagent, a cleaning reagent, and a counterstaining reagent One or more of them corresponds to one or more of the staining promotion, cleaning, and counterstaining of the smear 200 in the next operation. It needs to be pointed out that the difference in dye solution reagents does not mean that all reagents are used for the staining of smears.
  • the dye solution reagents here refer to reagents that can be used in different operations for primary staining, accelerating staining, cleaning, and counterstaining. It may also be a case where the same cleaning operation is performed, and the cleaning reagents in different reagent kits 41 are different. For example, the difference of the cleaning solution in the cleaning reagent, or the different proportions of multiple cleaning solutions after mixing, all belong to the different dye solution reagents.
  • the multiple kits 41 further include a second kit 4002, and the first kit 4001 and the second kit 4002 are arranged along the circumference of the base 43, and the dye in the first kit 4001
  • the reagent is different from the dye reagent in the second kit 4002, and the smear 200 is first processed in the first kit 4001 and then processed in the second kit 4002.
  • the method further includes:
  • the base 43 is driven to rotate around the first axis 001 by a first angle ⁇ , so that the first reagent cartridge 4001 leaves the splice position 401, and the second reagent cartridge 4002 is in the splice position 401;
  • the kit 41 may include a primary staining box 410, a stain accelerating box 422, a first cleaning box 421, a counterstaining box 430, and a second cleaning box 440 to sequentially perform the smear 200 Primary dyeing, dyeing promotion, cleaning, counter dyeing and cleaning operations.
  • the smear 200 that has completed the first treatment can be taken out of the first reagent box 4001 by this method, and then the base 43 is rotated by the first angle ⁇ around the first axis 001, and the first reagent The box 4001 is turned away, and the second reagent box 4002 is rotated to its corresponding connecting position 401.
  • the manipulator 51 may not need to move.
  • the manipulator 51 is then driven to move toward the second reagent box 4002 so that the smear 200 taken out of the first reagent box 4001 is directly placed in the second reagent box 4002 for the second reagent box 4002. Secondary treatment.
  • the method in this embodiment provides that the manipulator 51 extracts the smear 200 from the first reagent box 4001, and then quickly drives the second reagent box 4002 to rotate through the base 43, and puts the smear 200 into the second reagent box 4002 to perform the first The convenience of secondary processing.
  • the manipulator 51 is in a stationary state while the base 43 drives the second reagent cartridge 4002 to rotate.
  • the second reagent box 4002 is rotated to the splicing position 401, the second reagent box 4002 is in a static state again and is moved by the robot 51 to place the smear 200 into the second reagent box 4002.
  • the movements of the manipulator 51 and the base 43 are separated to realize the respective control of the translation of the manipulator 51 and the rotational movement of the base 43.
  • the rapid transfer processing operation of the smear 200 is realized under the premise of simplifying the control logic, and the film pusher 100 is improved. Work efficiency.
  • the plurality of reagent boxes 41 includes a first reagent box 4001, a second reagent box 4002, and a third reagent box 4003 arranged adjacently along the circumference of the base 43.
  • the dye reagents in the first kit 4001, the second kit 4002, and the third kit 4003 are also different.
  • the smear 200 is in the first kit 4001, the second kit 4002, and the third kit 4003 in sequence.
  • the method also includes:
  • the transfer operation of the smear 200 by the robot 51 can be performed alternately. That is, the robot 51 transfers the smear 200 processed in the second kit 4002 to the third kit 4003, and then transfers the smear 200 processed in the first kit 4001 to the second kit 4002. in. It is understandable that there are multiple smears 200 here, and the multiple smears 200 are processed in multiple kits 41, and the processing progress of each smear 200 may be the same or different.
  • the manipulator 51 can always be at the placement position 501 when moving multiple smears 200 at the same time.
  • the base 43 drives the different reagent cartridges 41 to rotate to the splicing position 401 matched with the manipulator 51. The action of fetching and putting out the film realizes the effect that a plurality of smears 200 are processed sequentially among different reagent boxes 41.
  • the primary staining reagent is a mixture of a first biological dye and a second biological dye, wherein the first biological dye can stain acidophilic substances in the blood sample, and the second biological dye can stain basophilic substances in the blood sample.
  • the counterstaining reagent is a mixture of a third biological dye and a buffer solution, and the third biological dye can stain acidophilic substances or basophils in the blood sample.
  • the dye solution reagent in the first kit 4001 is a primary dye reagent, which corresponds to the step of primary dyeing the smear 200.
  • the dye solution reagent in the second kit 4002 may be a dye-promoting reagent, and the second kit 4002 is used to perform a dye-promoting treatment on the smear 200 that has been initially stained.
  • the dye solution reagent in the third reagent kit 4003 may be a cleaning reagent.
  • the second reagent kit 4002 is used to clean the smear 200 that has been initially stained.
  • the staining solution reagent in the third kit 4003 can also be a counterstaining reagent, so as to perform counterstaining treatment on the smear 200 that has been initially stained.
  • the dye reagent in the first kit 4001 is a dye-promoting reagent
  • the dye reagent in the second kit 4002 is a cleaning reagent
  • the dye reagent in the third kit 4003 is a counter-staining reagent
  • the second kit 4002 is used for cleaning the smear 200 that has completed the stain promotion process
  • the third kit 4003 is used for counterstaining the smear 200 that has completed the cleaning process.
  • the dye reagent in the first kit 4001 is a cleaning reagent
  • the dye reagent in the second kit 4002 is a counterstaining reagent
  • the dye reagent in the third kit 4003 is a cleaning reagent.
  • the second kit 4002 is used for counterstaining the cleaned smear 200
  • the third kit 4003 is used for cleaning the smear 200 that has completed the counterstaining treatment.
  • the dye reagent in the first kit 4001 is a counterstaining reagent
  • the dye reagents in the second kit 4002 and the third kit 4003 are both cleaning reagents
  • the smear 200 can be used after the counterstaining is completed. Get two cleaning treatments.

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Abstract

一种推片机及其控制方法，推片机包括用于装载玻片和加载血样，并将血样抹平以制备涂片的玻片装载机构（10）、加样机构（20）和推片机构（30），还包括染色机构（40）和移片机构（50）。染色机构（40）包括试剂盒（41）和第一驱动系统（42），试剂盒（41）用于贮存染液试剂，第一驱动系统（42）用于带动试剂盒绕第一轴线旋转。移片机构（50）包括机械手（51）和第二驱动系统（52），第二驱动系统（52）用于带动机械手（51）沿第二方向往复平移。当试剂盒与机械手分别运动至对应的配合位后，第二驱动系统还带动机械手朝向试剂盒移动以在试剂盒的安放部件形成的插入区域中放置或提取涂片。通过机械手和试剂盒的配合运动以实现涂片的染色，简化了推片机的内部机构。

Description

推片机及其控制方法 技术领域
本发明涉及医疗设备技术领域，特别涉及一种推片机以及推片机的控制方法。
背景技术
传统的血涂片手工染色方法，是先在血涂片上滴加一定量的染液，再滴加一定量的缓冲液，然后使用洗耳球或其它吹气装置将染液与缓冲液混匀。经过一段时间的等待后，用流水冲去混合液，再晾干成为可供镜检的血涂片，其中的白细胞、红细胞、血小板等被染上特定的颜色，以供辨认。
针对采用浸泡染色方式的自动化推片机，通常采用机械手实现空间上玻片操作的所有自由度运动。单由机械手来完成所有运动的方式容易影响操作效率。部分机型为了提升效率，采用了两套或多套机械手进行操作，这大大提升了机型的复杂性及制作成本。且推片机内布局上需为机械手空出各自由度的运动空间，及所有自由度耦合的运行空间，占比较大，不利于推片机的体积控制。进一步，机械手的多自由度运动耦合，对运行精度要求较高，工艺难以实现。
发明内容
本发明提出一种机械手和试剂盒均可活动的推片机，通过机械手和试剂盒的配合运动来简化推片机的内部机构。具体包括如下技术方案：
第一方面，本发明提出一种推片机，包括：
玻片装载机构，用于装载玻片；
加样机构，用于将血样加载到所述玻片上；
推片机构，用于将所述玻片上的血样抹平以制成涂片；
染色机构，包括试剂盒、多个安放部件和第一驱动系统，所述多个安放部件设置于所述试剂盒内，所述安放部件用于形成插入所述涂片的插入区域，所述试剂盒内贮存染液试剂，所述涂片容置于所述插入区域时能浸渍在所述染液试剂中接受对应的处理，所述试剂盒顶部开口，所述第一驱动系统用于带动所 述试剂盒绕第一轴线旋转；
移片机构，包括机械手和第二驱动系统，所述机械手用于提取所述涂片并将所述涂片置入所述试剂盒内进行染色，所述第二驱动系统用于带动所述机械手沿第二方向往复平移；
当所述第一驱动系统与所述第二驱动系统分别带动所述试剂盒与所述机械手分别运动至对应的配合位置后，所述第二驱动系统还用于带动所述机械手朝向所述试剂盒移动以将所述涂片从所述开口处置入所述试剂盒中进行染色或从所述试剂盒中取出所述涂片。
其中，所述染色机构设有对应所述试剂盒的接片位和存储位，其中所述接片位对应所述试剂盒与所述机械手的所述配合位置，所述第一驱动系统带动所述试剂盒在所述存储位和所述接片位之间位置切换，以使得所述机械手将所述涂片置入位于所述接片位的所述试剂盒中，或将所述涂片从位于所述接片位的所述试剂盒中取出。
其中，所述染色机构还包括连接于所述试剂盒与所述第一驱动系统之间的底座，所述底座为圆形，所述第一驱动系统带动所述试剂盒绕所述第一轴线旋转以切换于所述存储位和所述接片位之间。
其中，所述染色机构还包括连接于所述试剂盒与所述第一驱动系统之间的底座，所述底座为扇形，所述第一驱动系统带动所述试剂盒绕所述第一轴线往复旋转以切换于所述存储位和所述接片位之间。
其中，所述第一驱动系统带动所述试剂盒于第一水平面内旋转以在所述存储位和所述接片位之间切换。
其中，所述试剂盒数量为多个，所述染色机构对应每个所述试剂盒均设有至少一个所述放置位，所述机械手在各个所述放置位上将所述涂片放入其对应的所述试剂盒中，或将所述涂片从所述试剂盒中取出。
其中，多个所述试剂盒沿所述底座的周向依次排列于所述底座上。
其中，所述染色机构设有位置固定的盖板，所述盖板对应所述试剂盒的旋转路径设置于所述试剂盒的上方，所述盖板用于封盖所述试剂盒的所述开口，且所述盖板设有对应所述接片位的缺口，所述缺口用于容许所述机械手通过并将所述涂片从所述开口处置入所述试剂盒中进行染色或从所述试剂盒中取出 所述涂片。
其中，所述机械手的移动路径上设有对应所述机械手的取片位和放置位，且所述放置位对应所述试剂盒与所述机械手的所述配合位置，所述第二驱动系统包括第一驱动装置，所述第一驱动装置带动所述机械手在所述取片位和所述放置位之间位置切换，所述机械手在所述取片位提取所述涂片，所述机械手在所述放置位将所述涂片置入所述试剂盒中，或从所述试剂盒中取出所述涂片。
其中，所述第二驱动系统还包括第二驱动装置，所述第二驱动装置用于在所述放置位带动所述机械手朝向所述试剂盒移动，以将所述涂片置入所述试剂盒中，或从所述试剂盒中取出所述涂片。
其中，所述第一驱动装置带动所述机械手在第二水平面内平移以实现所述机械手在所述取片位和所述放置位之间的位置切换，且所述第二驱动装置带动所述机械手沿竖直方向往复移动以将所述涂片置入所述试剂盒中或从所述试剂盒中取出所述涂片。
其中，所述第一驱动装置带动所述机械手运动至所述放置位时，所述机械手在所述第一水平面上的投影位于所述试剂盒的旋转路径之内，所述第一驱动装置带动所述机械手运动至所述取片位时，所述机械手在所述第一水平面上的投影位于所述试剂盒的旋转路径之外，以使得所述推片机至少在所述第一水平面的上方，对应所述机械手行进方向的两侧位置形成两个容置空间。
其中，所述底座为圆形，位于所述取片位时的所述机械手较位于处于所述放置位时的所述机械手远离所述底座的圆心，以使得所述推片机在所述第一水平面的上方，对应处于所述放置位的所述机械手朝向所述底座的圆心一侧也形成一容置空间，且所述容置空间分别连通对应所述机械手行进方向的两侧的两个容置空间。
其中，所述第二方向在所述第一水平面上的投影穿过所述底座的几何中心。
其中，所述试剂盒包括初染盒和隔离盒，所述初染盒中贮存有第一染液以用于对所述涂片进行初染，所述第一染液为第一生物染料和第二生物染料的混合物，所述第一生物染料能够对血样中嗜酸物质进行染色，所述第二生物染料能够对血样中嗜碱物质进行染色；所述隔离盒中贮存的试剂用于在初染后复染 前对血样进行处理。
其中，所述试剂盒还包括复染盒，所述复染盒中贮存有第二染液以用于对所述涂片进行复染，所述第二染液为第三生物染料和缓冲液的混合物，所述第三生物染料能够对血样中嗜碱物质或嗜碱物质进行染色。
其中，所述第一驱动系统还带动所述试剂盒绕所述第一轴线往复旋转以混匀所述试剂盒中的染液试剂。
其中，所述染色机构还包括第一染液回收系统、第一染液进液系统和第一染液密封容器，所述第一染液回收系统分别与所述第一染液密封容器和所述染色盒相通，用以将所述染色盒内对应的所述第一染液回收至所述第一染液密封容器；所述第一染液进液系统分别与所述第一染液密封容器和所述染色盒相通，用以将所述第一染液密封容器内的所述第一染液重新排出至所述染色盒内。
其中，当所述初染盒内无所述涂片需要进行染色或接收到用户发出的第一染液回收指令后，所述第一染液液路控制系统将所述初染盒内对应的所述第一染液回收至所述第一染液密封容器；当所述初染盒内有涂片需要进行染色或接收到用户发出的第一染液进液指令后，所述第一染液液路控制系统将所述第一染液密封容器内的所述第一染液排出至所述初染盒内。
其中，所述染色机构还包括第一染液排放系统，所述第一染液排放系统与所述初染盒或所述第一染液密封容器连通，当所述第一染液达到排放要求时或接收到用户发出的第一染液排放指令后，所述第一染液排放系统排放所述初染盒或所述第一染液密封容器内的第一染液。
其中，所述隔离盒包括贮存有缓冲液的促染盒，所述促染盒用于对经初染后的所述涂片进行缓冲和清洗。
其中，所述隔离盒还包括盛有清洗液或缓冲液的第一清洗盒，所述第一清洗盒用于对经所述初染后和/或所述促染盒处理后的所述涂片进行清洗。
其中，所述试剂盒还包括盛有清洗液或缓冲液的第二清洗盒，所述第二清洗盒用于对经复染后的所述涂片进行清洗。
其中，所述初染盒、所述促染盒、所述第一清洗盒、所述复染盒以及所述第二清洗盒按顺序依次沿所述底座的周向排列于所述底座上。
在第一方面中，本发明提出的推片机通过玻片装载机构、加样机构和推片机构，完成玻片的装载、血样加载和血样抹平等制备涂片的工作。然后，通过染色机构和移片机构的配合运动来对涂片进行染色。其中染色机构通过第一驱动系统绕第一轴线带动装承染液试剂的试剂盒旋转，移片机构通过第二驱动系统沿第二方向驱动携带涂片的机械手往复平移，然后在试剂盒与机械手分别运动至对应的配合位后，第二驱动系统还带动机械手朝向试剂盒移动，以从安放部件形成的插入区域中放置或提取涂片。本申请推片机将机械手在空间里三个自由度上的运动，分解到机械手和试剂盒来协作完成，简化了机械手的机构及运动轨迹的复杂度，提高了推片机的工作效率、减少占用空间，还降低了推片机的成本。
第二方面，本发明提出一种推片机控制方法，包括如下步骤：
将血样加载到玻片上抹平以制成涂片；
驱动机械手提取所述涂片，并沿第二方向驱动所述机械手平移至放置位；
驱动底座绕第一轴线旋转以带动多个试剂盒中的第一试剂盒旋转至接片位；
驱动所述机械手朝向位于接片位的所述第一试剂盒移动以将所述涂片置入所述第一试剂盒中进行处理；
所述第一试剂盒中的处理完成后，判断所述第一试剂盒是否处于所述接片位：
若所述第一试剂盒处于所述接片位，则驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出并进行下一步操作；
若所述第一试剂盒不处于所述接片位，则驱动所述底座绕第一轴线旋转以将所述第一试剂盒转回所述接片位，然后驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出并进行下一步操作。
其中，所述多个试剂盒用于贮存染液试剂，所述驱动底座绕第一轴线旋转以使得多个试剂盒中的第一试剂盒旋转至接片位，还包括：
绕所述第一轴线驱动所述底座往复旋转以混匀所述试剂盒内的染液试剂；
绕所述第一轴线驱动所述底座将混匀后的所述第一试剂盒旋转至所述接片位。
其中，所述多个试剂盒还包括第二试剂盒，所述第一试剂盒与所述第二试剂盒沿所述底座的周向排列，所述第一试剂盒中的染液试剂与所述第二试剂盒中的染液试剂不同，且所述涂片先在所述第一试剂盒中进行处理后，再在所述第二试剂盒中进行处理，所述方法还包括：
驱动位于放置位的所述机械手朝向所述第一试剂盒移动以将完成第一次处理的所述涂片取出所述第一试剂盒；
驱动底座绕第一轴线旋转第一角度，以使得所述第一试剂盒离开所述接片位，且所述第二试剂盒处于所述接片位；
驱动所述机械手朝向所述第二试剂盒移动以将所述涂片置入所述第二试剂盒进行第二次处理。
其中，所述多个试剂盒还包括第三试剂盒，所述第一试剂盒、所述第二试剂盒和所述第三试剂盒沿所述底座的周向依次排列，所述第一试剂盒、所述第二试剂盒和所述第三试剂盒中的染液试剂各不相同，且所述涂片依次在所述第一试剂盒、第二试剂盒和第三试剂盒中进行处理，本方法还包括：
驱动位于放置位的所述机械手朝向位于所述接片位的所述第二试剂盒移动以将第二试剂盒中完成处理的涂片取出所述第二试剂盒；
驱动所述底座旋转以使得所述第二试剂盒离开所述接片位，且所述第三试剂盒旋转至所述接片位；
驱动所述机械手朝向位于接片位的所述第三试剂盒移动以将所述涂片置入所述第三试剂盒中；
驱动所述底座旋转以将所述第一试剂盒旋转至所述接片位；
驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出以便在所述第二试剂盒中处理。
其中，所述多个试剂盒用于贮存染液试剂，所述染液试剂包括承装于所述初染盒中的初染试剂，所述染液试剂还包括促染试剂、清洗试剂以及复染试剂中的一者或多者，对应所述下一步操作中所述涂片的促染、清洗以及复染中的一种操作处理或多种操作处理。
其中，所述第一试剂盒中的所述染液试剂为初染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为为促染试剂、清洗试剂或复染试剂中的一者。
其中，所述第一试剂盒中的所述染液试剂为促染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为为清洗试剂或复染试剂中的一者。
其中，所述第一试剂盒中的所述染液试剂为清洗试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为复染试剂或清洗试剂中的一者。
其中，所述第一试剂盒中的所述染液试剂为复染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂均为清洗试剂。
在第二方面中，本申请推片机控制方法，也通过在制备涂片后，分开驱动试剂盒与机械手，使得二者配合以实现涂片的置入或取出动作。将原本由机械手单独完成的三自由度运动分解到试剂盒与机械手协作完成，同样简化了对机械手的控制复杂度，同时起到提高推片机的工作效率、减少占用空间，并降低推片机的成本的效果。
附图说明
图1是本发明推片机的系统框架示意图；
图2是本发明推片机的一种实施例中染色机构和移片机构的示意图；
图3是本发明推片机的一种实施例中试剂盒的示意图；
图4是本发明推片机的另一实施例中染色机构的示意图；
图5是本发明推片机的另一实施例中染色机构的示意图；
图6是本发明推片机的另一实施例中染色机构和移片机构的示意图；
图7是本发明推片机的另一实施例中染色机构和移片机构的示意图；
图8是本发明推片机的另一实施例中染色机构和移片机构的示意图；
图9是本发明推片机的另一实施例中移片机构的示意图；
图10是本发明推片机的另一实施例中染色机构的示意图；
图11是本发明推片机的另一实施例中染色机构的示意图；
图12是本发明推片机的另一实施例中染色机构的示意图；
图13是本发明推片机的另一实施例中染色机构的示意图；
图14是本发明推片机控制方法的流程图；
图15是本发明推片机控制方法中步骤S30的子步骤流程图；
图16是本发明推片机控制方法的另一实施例的流程图；
图17是本发明推片机控制方法的另一实施例的流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其它实施例，都属于本发明保护的范围。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接(联接)。在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1所示的推片机100，可用于血液、体液等样本的涂片制备。推片机100包括玻片装载机构10、加样机构20、推片机构30、染色机构40和移片机构50。其中玻片装载机构10用于提取玻片，并将玻片装载到相应位置，以便于进行加样操作。在提取玻片之前，还可以进行玻片左右检测和玻片清洁等操作，之后再由玻片装载机构10装载玻片。玻片装载机构10还可以对装载 后的玻片打印相关信息，同时进行玻片正反检测等操作。加样机构20的加样针将样本滴落到玻片上后，又推片机构30进行推片操作，通过推片机构30将血样在玻片上推成血膜形状。通常，在完成推片动作后，可对玻片上的血膜进行干燥，稳定其形态，以将加样后的玻片制备为涂片200。在一些实施例中，可在进行血膜干燥前，驱动玻片翻转，以满足相应需求。一些实施例中，干燥后的涂片200还可进行干燥检测，用来判定血膜干燥的效果。一些实施例中，干燥后的涂片200还可以进行血膜展开检测，用以判断血膜是否展开以及展开状态是否符合要求。由此，推片机100通过玻片装载机构10、加样机构20和推片机构30，完成玻片的装载、血样加载和血样抹平等工作，制备得到待供镜检的涂片200。
当然，在对涂片200进行镜检之前，还要对血样中的白细胞、红细胞、血小板等染上特定的颜色，以供辨认。请参见图2，涂片200的镜检前染色工作由染色机构40和移片机构50共同完成。其中染色机构40包括有试剂盒41和第一驱动系统42。试剂盒41用于贮存染液试剂，试剂盒41的顶部设有开口411，以便于涂片200从开口411处置入试剂盒41中，涂片200置入试剂盒41后与试剂盒41中的染液试剂进行充分接触反应，从而达到染色的效果。请参见图3，试剂盒41内包含至少一个安放部件44。安放部件44用于形成插入涂片200的插入区域(图中未示)，以使得涂片200容置于插入区域时能得到固执定位，并浸渍在试剂盒41装承的染液试剂中接受对应的操作处理。安放部件44可以呈可分离的形式固定于试剂盒41中，也可以为试剂盒41的内壁一体式形成的插槽等结构，本申请推片机100不具体限定安放部件44的实施细节。
试剂盒41在推片机100中为活动设置，试剂盒41可在推片机100中做单自由度旋转运动。第一驱动系统42用于带动试剂盒41绕第一轴线001旋转，以配合移片机构50的动作完成放片和取片的操作。移片机构50包括机械手51和第二驱动系统52，机械手51用于提取由玻片制备形成的涂片200，并将涂片200置入试剂盒41内进行染色。机械手51的运动方向包括第二方向002，且第二方向002与试剂盒41的第一轴线001相异设置，机械手51沿第二方向002往复平移以配合染色机构40的动作完成放片和取片的操作。机械手51沿 第二方向002的往复平移动作由第二驱动系统52带动。
请继续参见图2，推片机100设置有同时对应试剂盒41与机械手51的配合位01。当第一驱动系统42带动试剂盒41绕第一轴线001旋转至配合位01，且第二驱动系统52带动机械手51沿第二方向002平移至配合位01时，试剂盒41与机械手51在配合位01上处于位置相对应的状态。即机械手51正对于试剂盒41的开口411。然后，第二驱动系统52还带动机械手51朝向试剂盒41移动，以将机械手51上承载的涂片200从开口411处置入试剂盒41中进行染色操作，或将试剂盒41中完成染色操作的涂片200从开口411处取出。可以理解的，机械手51将涂片200置入试剂盒41里至少一个安放部件44形成的插入区域中进行染色操作，或将容置于插入区域内的涂片200从试剂盒41中取出。
本申请推片机100，因为试剂盒41与机械手51都在推片机100内部活动设置，因此试剂盒41和机械手51可以相对配合运动，从而将移片机构50带动涂片200在推片机100内部的三自由度运动，分解到试剂盒41与机械手51相互配合协作来完成。其中第一驱动系统42带动试剂盒41的单自由度旋转运动相对简单，通过绕第一轴线001设置的滑轨或中心轴等结构就可以实现。第二驱动系统52驱动机械手51沿第二方向002的平移运动也可以通过沿第二方向002设置的滑轨等结构来实现。进一步，第二驱动系统52驱动机械手51在配合位01处朝向试剂盒41的移动，也为单自由度运动，通过朝向开口411设置的伸缩机构或滑轨等结构同样可以实现。且第一驱动系统42对试剂盒41绕第一轴线001的旋转运动，与第二驱动系统52对机械手51沿第二方向002的平移运动都是单自由度运动，可以同时进行且二者分开控制，相互不会影响。待机械手51与试剂盒41均运行至配合位01处后，第二驱动系统52再驱动机械手51朝向试剂盒41做单自由度运动。将原来的多自由度独立分割，降低对单个机械手组件精度的要求，从而降低制作成本。本申请推片机100在对涂片200染色的全过程中，各个自由度上机械手51和试剂盒41的运动都为单自由度运动，且三个单自由度运动均为分开控制的方式，相对于现有技术中只通过机械手的三自由度运动来完成涂片移位、染色处理等操作的运动和控制方式，本申请推片机100的内部机构更简化，便于控制。且因为试剂盒41的旋转与 机械手51的平移互不影响，二者可以同时做相对运动，较机械手51单独运动的情况缩短了位移行程并避免了多方向运动合成，在机械手51速度保持一定的情况下，提高了推片机的工作效率，同时还可以缩小推片机100的内部空间占用，达到降低推片机100的成本的效果。
请参见图4的实施例，染色机构40设有对应试剂盒41的接片位401和存储位402。可以理解的，接片位401与存储位402在绕第一轴线001的方向上为不同的旋转角度，以便于第一驱动系统42带动试剂盒41在接片位401和存储位402之间位置切换。其中接片位401对应到试剂盒41与机械手51进行交接涂片200操作的配合位01。当试剂盒41中已经置入涂片200，或没有涂片200需要从试剂盒41中取出时，第一驱动系统42可以带动试剂盒41旋转至存储位402处。当染色机构40需要将涂片200置入试剂盒41中，或试剂盒41中的涂片200完成染色需要进入到下一步操作时，第一驱动系统42带动试剂盒41绕第一轴线001旋转，以回到接片位401的位置，以便于与机械手51配合，将涂片200置入位于接片位401的试剂盒41中，或机械手51将涂片200从位于接片位401处的试剂盒41中取出。
请看回图2，染色机构40还包括连接于试剂盒41与第一驱动系统42之间的底座43。第一驱动系统42通过驱动底座43绕第一轴线001的旋转，来带动试剂盒41绕第一轴线001旋转。在图2的实施例中，底座43为圆形，第一驱动系统42可以带动试剂盒41始终沿第一旋向绕第一轴线001旋转，即可实现试剂盒41在存储位402和接片位401之间的位置切换。另一种实施例可以参见图5，底座43还可以设置为扇形，第一驱动系统42带动试剂盒41绕第一轴线001按第一旋向旋转后，再按第一旋向的反向旋转，如此往复旋转才能以使得试剂盒41切换于存储位402和接片位401之间。上述实施例都可以达到第一驱动系统42驱动底座43绕第一轴线001旋转，并带动试剂盒41在存储位402和接片位401之间位置切换的效果。
一种实施例，因为试剂盒41内装承有染液试剂，而试剂盒41需要绕第一轴线001旋转以实现在接片位401和存储位402之间的位置切换，因此为了避免染液试剂在试剂盒41旋转的过程中溢出，宜将接片位401和存储位402设置在同一水平面上，且第一轴线001也宜设置为竖直方向，以使得试剂盒41 在第一驱动系统42的带动下进行位置切换时，能始终处于第一水平面004上，而不产生竖直方向的位移。试剂盒41在第一水平面004上的旋转以切换于接片位401和存储位402之间，可以保证试剂盒41内的染液试剂平稳装承，避免溢出试剂盒41而造成染液试剂的不必要浪费。
进一步的，因为底座43的设置，推片机100得以在染色机构40中设置多个试剂盒41。多个试剂盒41可以存放不同的染液试剂，以对应染色机构40对涂片200的不同染色处理操作。相对应的，染色机构40对应每个试剂盒41均设有至少一个接片位401，每个试剂盒41在其对应的接片位401处由机械手51将涂片200置入，或将涂片200从试剂盒41中取出。
一种实施例，多个试剂盒41绕第一轴线001呈不同旋转角度依次排列，也即多个试剂盒41沿底座43的周向依次排列。可以理解的，此时对应多个试剂盒41的多个接片位401也绕第一轴线001排列，或描述为沿底座43的周向排列。当机械手51需要对应不同的试剂盒41进行操作时，则可以保持机械手51不动，通过第一驱动系统42驱动底座43绕第一轴线001旋转，以将对应的不同试剂盒41先后带动至其对应的接片位401上，与机械手51形成相对应的配合位01，再由第二驱动系统52带动机械手51先后朝向不同的试剂盒41移动并实现置入或取出涂片200的操作。多个试剂盒41沿底座43的周向排列，可以保持机械手51不动，只驱动试剂盒41做旋转就能形成多个配合位01的配合状态，有序的开展后续多个操作处理。
前述中提到，试剂盒内还设置有至少一个安放部件44，如图3中的多个安放部件44的设置，可以使得每个试剂盒41内形成多个插入区域，单个试剂盒41可以容纳多个涂片200，实现试剂盒41对涂片200的批量处理。安放部件44在试剂盒41内的排列可以如图3所示，沿底座43的径向设置。处于接片位401上的试剂盒41中，每个插入区域也按底座43的径向排列，机械手51在将涂片200置入各个插入区域内时，需要沿底座43的径向平移以对准各个插入区域。可以理解的，此时可以将第二方向002设置为与底座43的径向平行，以便于机械手51的平移操作。另一种实施例请参见图6，多个安放部件44在试剂盒41中也沿底座43的周向布置。此时染色机构40还需要在该试剂盒41对应设置的接片位401中细化出多个子接片位(图中未示)，试剂盒 41在每个子接片位上均能与机械手51形成配合位01，并使得机械手51朝向试剂盒41移动时能将涂片200置入该子接片位对应的插入区域内，或从该子接片位对应的插入区域内取出涂片200。
需要提出的是，图6的实施例与图2、图4、图5等实施例不同之处在于，当涂片200沿底座43的径向设置时，机械手51对涂片200的握持角度需要相应翻转，处于子接片位上的涂片200宜沿底座43的径向放置。同时，第二方向002需要穿过第一轴线001，才能使得机械手51在每个子接片位上对应置入或提取到涂片200。还可以采用图7的实施例，第二方向002沿与底座43的旋转轨迹相切的方式设置，以使得机械手51在运动至配合位01时，其握持的涂片200沿底座43的径向置于试剂盒41的上方。然后通过机械手51朝向试剂盒41的移动，将涂片200置入试剂盒41中。上述机械手41与试剂盒41的配合方式都可以实现同一试剂盒41内布置多个安放部件44，以形成多个插入区域进而容纳多个涂片200的效果。
一种实施例，前述中提到，试剂盒41内根据装承的染液试剂不同，需要按一定的比例制备染液和缓冲液的混合试剂，或在染液试剂消耗、挥发后进行续液操作。如果试剂盒41处于静置状态，则试剂盒41内不同成分或新旧不同的液体容易出现分层的问题。此时如果驱动机械手51伸入试剂盒41的开口411内进行混匀，一方面机械手51可能对染液试剂形成污染，另一方面混匀后的机械手51会带走部分染液试剂，造成不必要的染液试剂消耗。因此，可以采用第一驱动系统42带动试剂盒41绕第一轴线001往复旋转来混匀试剂盒41中的染液试剂，然后第一驱动系统42再带动试剂盒41旋转至接片位401处接收被置入的涂片200。第一驱动系统42基于混匀需求快速的往复驱动试剂盒41旋转，可以有效消除试剂盒41内的染液试剂分层现象，混匀后的染液试剂也能更有效的对涂片200进行染色处理等操作。
对于处于静置状态的试剂盒方案，根据装承的染液试剂不同，需要按一定比例制备染液和缓冲液的混合试剂，或在染液试剂消耗、挥发后进行续液。此时静置状态的试剂盒容易出现新旧液分层的问题，且不便于混匀。另一方面，试剂盒处于非工作状态时，其上部开口位置通常会加设一层密封盖，以防止染液试剂的挥发。但设置密封盖又会影响到机械手的操作。为此，一种实施例请 参见图8，本推片机100在试剂盒41处于非工作状态时，其上部开口411的位置通常会加设一层密封盖，以防止染液试剂的挥发。但在试剂盒静置，仅由机械手运动来实现染色操作的推片机中，密封盖相对于试剂盒的固定设置又会对机械手的存取片操作造成干涉影响。而在本申请推片机100中，因为试剂盒41可以由第一驱动系统42从接片位401带回到存储位402进行存置，即机械手51与试剂盒41的配合位相对固定，因此提供了染色机构40设置密封盖的便利。在7的实施例中，染色机构40在对应试剂盒41的存储位402的位置设置了固定的盖板45。盖板45在竖直方向上高于试剂盒41的开口411，以便于当第一驱动系统42驱动试剂盒41位于存储位402时，盖板45封盖于试剂盒41的开口411上，对试剂盒41内的染液试剂进行密封保护。可以理解的，盖板45可以一方面可以防止染液试剂的挥发，另一方面也可以对开口411形成遮盖，避免染色机构40处于非工作状态时有杂质掉入试剂盒41中，对染液试剂造成污染。进一步，盖板45还设有对应接片位401的缺口451，缺口451用于容许机械手51通过并将涂片200从开口411处置入试剂盒41中进行染色，或从试剂盒41中取出涂片200。
可以理解的是，底座上在相邻试剂盒41之间可以设置空白位置，当无需进行染色处理时，可以将缺口451对准底座上的空白位置，使得试剂盒41均处于封盖状态。另一方面，可以通过对安放部件44的设置，控制涂片200在试剂盒41中的高度，以使得盖板45与试剂盒41的开口411之间的间隙减小，实现更好的密封效果。甚至将涂片200完全收容于试剂盒41中，使得盖板45与试剂盒41直接配合实现更好的密封效果。当然，也可以如图8所示，在盖板45的边缘设置向下延伸的盖沿452，盖沿452与试剂盒41的侧壁412配合，也可以达到较好的密封效果。
一种实施例请参见图9，在机械手51的移动路径上，移片机构50设有对应机械手51的取片位502和放置位501。可以理解的，取片位502与放置位501在第二方向002上相互对齐，以便于第二驱动系统52带动机械手51在取片位502和放置位51之间位置切换。其中放置位501对应到试剂盒41与机械手51进行涂片200操作交接的配合位01。第二驱动系统52包括有第一驱动装置(图中未示)，第二驱动系统52由第一驱动装置带动机械手51在取片位 502和放置位501之间实现位置切换。机械手51在取片位502处提取需要进行染色处理的涂片200；机械手51在放置位501处与试剂盒41配合，以便于将涂片200置入试剂盒41中，或从试剂盒41中取出涂片200。
一种实施例，第二驱动系统52还包括第二驱动装置(图中未示)。第二驱动装置用于在机械手51处于放置位501时，带动机械手51朝向试剂盒41移动，以将涂片200置入试剂盒41中，或从试剂盒41中取出涂片200。第二驱动系统52通过第一驱动装置和第二驱动装置分别驱动机械手51在放置位501和取片位502之间的平移，以及驱动机械手51朝向试剂盒41的移动动作，使得机械手51的运动也划分为两个自由度的单向往复运动动作。相较于试剂盒静止不动的方案，本申请推片机100的机械手51运动轨迹更简化，且通过自由度的分解，进一步降低了耦合运动导致的机械手51耦合控制精度要求较高的缺陷，降低对单组件精度的要求，从而降低推片机100的制作成本。
一种实施例，配合染色机构40在第一水平面004里的水平旋转实施例，第一驱动装置也宜带动机械手51在第二水平面005内水平平移，以实现机械手51在取片位502和放置位501之间的位置切换。设置机械手51也做水平运动，可以在机械手51相同的平移距离下赋予机械手51更大的活动范围。或描述为，机械手51在固定范围内进行活动时，机械手51采用水平平移的方式能控制其移动行程最小。可以理解的，机械手51的移动行程越小，第一驱动装置的负载更低，可以提升推片机100的工作效率并降低功耗。另一方面，第二驱动装置带动机械手51朝向试剂盒41的运动方向，与可以设置为竖直方向。即第二驱动装置驱动处于放置位501的机械手51沿竖直方向往复平移以将涂片200置入试剂盒41中或将涂片200从试剂盒41中取出。试剂盒41的开口411在试剂盒41的上部，沿竖直方向朝向试剂盒41运动以置入或取出涂片200，也可以缩短第二驱动装置的运动距离，加快第二驱动装置的处理速度，同时涂片200多为长方形条状，涂片200沿竖直方向进出试剂盒41也更贴合涂片200的外形形状，较大程度的避免机械手51和试剂盒41在配合位01处出现对位误差后对涂片200造成的损害。
请参见图10的示意，在推片机100的内部空间里，因为试剂盒41在第一驱动系统42的带动下可以配合机械手51做旋转运动，而机械手51相对于试 剂盒41只需要做第二方向002上的单自由度平移，以及朝向处于接片位401的试剂盒41的运动，因此机械手51不需要覆盖整个盖板45的上部空间，就可以实现涂片200的置入和提取操作。进一步的，第一驱动装置带动机械手51运动至放置位501时，机械手51在第一水平面004上的投影位于试剂盒41的旋转路径之内，也即位于底座43上；第一驱动装置带动机械手51运动至取片位502时，机械手51在第一水平面004上的投影位于试剂盒41的旋转路径之外，即位于底座43之外。因此，推片机100在第一水平面004的上方，对应机械手51行进方向的两侧位置形成两个容置空间006。该容置空间006不需要为机械手51的运动预留空间，而使得容置空间006可用于存放推片机100的其余组件，由此为推片机100的内部节约出一部分空间体积，使得推片机100的内部机构排布更紧凑，有利于推片机100的整机体积控制。
在图10的实施例中，底座43为圆形。位于取片位502时的机械手51较位于处于放置位501时的机械手51远离底座43的圆心。以使得推片机100在第一水平面004的上方，对应处于放置位501的机械手51朝向底座43的圆心另一侧也形成一容置空间006，且该容置空间006分别连通对应机械手51行进方向的两侧的两个容置空间006。进一步，还可以设置第二方向002在第一水平面004上的投影穿过底座43的圆心。由此，对应机械手51行进方向两侧位置形成的两个容置空间006通过圆心另一侧的容置空间006连通，在推片机100的内部形成一整个大的容置空间006，该容置空间006因为不处于机械手51的运动轨迹内，因此不需要为机械手51的运动预留空间，而使得整个容置空间006可用于存放推片机100的其余组件，例如，气泵、气缸、液路系统和控制电路板中的一种或几种。推片机100的内部节约出更大的空间体积，进一步利于推片机100的内部机构排布，以控制推片机100的整机体积。
请参见图11，涂片200在染色机构40中的染色处理，通常需要经历多道染色工序，且多道染色工序之间需要对涂片200进行促染和清洗等处理，才能保证对经染色处理的涂片200镜检时得到更好的观测效果。由此，多个试剂盒41通常包括有初染盒410和隔离盒420，在一些实施例中，还可以包括复染盒430。初染盒410中贮存有第一染液(或称为初染试剂)以用于对涂片200进行初染。第一染液为第一生物染料和第二生物染料的混合物，其中第一生物染 料能够对血样中的嗜酸物质进行染色，第二生物染料能够对血样中的嗜碱物质进行染色。隔离盒420中贮存有试剂，用于在初染后复染前对血样进行促染和/或清洗等处理。复染盒430中贮存有第二染液(或称为复染试剂)以用于对涂片200进行复染，第二染液为第三生物染料和缓冲液的混合物，第三生物染料能够对血样中的嗜酸物质或嗜碱物质进行染色。
进一步地，为了满足绝大多数临床科室的使用习惯，一种实施例中，该第一染液为瑞氏-吉姆萨染液，该瑞氏-吉姆萨染液包括伊红染料和亚甲蓝染料。而该第二染液则为吉姆萨染液与缓冲液的混合物，吉姆萨染液含有作为第三生物染料的亚甲蓝染料。
其中，该第二染液也可换成其他具有亚甲蓝染料的染液与缓冲液的混合，例如刘氏B染液。
在自动化染色推片机中，普遍采用的一类为垂直浸染方式，其染色流程基本仿照人工操作(例如迈瑞的SC-120，sysmex的SP-10等)，在一个小型容器中实现染色，容器内染液试剂(包括第一染液、第二染液、缓冲液、清洗液等)均为单次使用后排出，存在较大的浪费情况。另一类为节省成本而采用浸泡染色方式(例如sysmex的SP-50、RAL的RAL Stainer等)，在可容纳多玻片的大试剂盒中循环浸泡玻片，使试剂能循环使用。一种实施例请参见图12，染色机构40还包括第一染液回收系统4101、第一染液进液系统4102和第一染液密封容器4103。第一染液回收系统4101分别与第一染液密封容器4103和初染盒410相通，第一染液回收系统4101用以将初染盒410内对应的第一染液回收至第一染液密封容器4103内。第一染液进液系统4102分别与第一染液密封容器4103和初染盒410相通，第一染液进液系统4102用以将第一染液密封容器4103内的第一染液重新排出至初染盒410内。当染色机构40处于非工作状态时，可以利用第一染液密封容器4103对第一染液进行容置保存。当染色机构40进入工作状态，在需要使用第一染液对涂片200进行初染时，才通过第一染液进液系统4102将第一染液从第一染液密封容器4103送入初染盒410内，并在初染结束后通过第一染液回收系统4101将初染盒410内的第一染液收回到第一染液密封容器4103中，可以对第一染液进行更可靠的保存，较大限度的避免第一染液被杂质污染或挥发损失的现象，以便于循环使用第一 染液。
可以理解的，第一染液回收系统4101还可以包括第一染液回收管路4104和第一染液抽吸压力源4105。第一染液回收系统4101通过第一染液回收管路4104分别与初染盒410和第一染液密封容器4103连通，第一染液抽吸压力源4105用于将初染盒410内的第一染液抽吸到第一染液密封容器4103内；第一染液进液系统4102还可以包括第一染液进液管路4106和第一染液进液压力源4107。第一染液进液系统4102通过第一染液进液管路4106分别与初染盒410和第一染液密封容器4103连通，第一染液进液压力源4107将第一染液密封容器4103内的第一染液排出至初染盒410内。一种实施例，第一染液回收管路4104与第一染液进液管路4106可以为同一管路，第一染液进液压力源4105和第一染液抽吸压力源4107可以为同一压力源。
一种实施例，当初染盒410内无涂片200需要进行染色，或推片机100在接收到用户发出的第一染液回收指令后，第一染液回收系统4101将初染盒410内对应的第一染液回收至第一染液密封容器4103内进行存储。当初染盒410内有涂片200需要进行染色，或推片机100接收到用户发出的第一染液进液指令后，第一染液进液系统4102将第一染液密封容器4103内的第一染液排出至初染盒410内。
需要提出的是，推片机100也可以自动进行第一染液的回收动作。推片机100可以通过判断是否存在涂片200需要进行染色工作的方式来自动控制第一染液的回收，具体判断方式包括：当初染盒410内无涂片200且无待染色涂片200被送入时，和/或初染盒410空闲时间超过预设值时。
一种实施例，染色机构40还包括有第一染液排放系统4108。第一染液排放系统4018与初染盒410或第一染液密封容器4103连通，当推片机100感测到第一染液达到排放要求时，或接收到用户发出的第一染液排放指令后，第一染液排放系统4108用于排放初染盒410或第一染液密封容器4103内的第一染液。
请参见图13的实施例，染色机构40也可以包括与初染盒410的配置类似的复染盒430的液路系统。具体的，染色机构40还包括第二染液回收系统4301、第二染液进液系统4302和第二染液密封容器4303。第二染液回收系统 4301分别与第二染液密封容器4303和复染盒430相通，第二染液回收系统4301用以将复染盒430内对应的第二染液回收至第二染液密封容器4303内。第二染液进液系统4302分别与第二染液密封容器4303和复染盒430相通，第二染液进液系统4302用以将第二染液密封容器4303内的第二染液重新排出至复染盒430内。当染色机构40处于非工作状态时，可以利用第二染液密封容器4303对第二染液进行容置保存。当染色机构40进入工作状态，在需要使用第二染液对涂片200进行复染时，才通过第二染液进液系统4302将第二染液从第二染液密封容器4303送入复染盒430内，并在复染结束后通过第二染液回收系统4301将复染盒430内的第二染液收回到第二染液密封容器4303中，可以对第二染液进行更可靠的保存，较大限度的避免第二染液被杂质污染或挥发损失的现象，以便于循环使用第二染液。
可以理解的，第二染液回收系统4301还可以包括第二染液回收管路4304和第二染液抽吸压力源4305。第二染液回收系统4301通过第二染液回收管路4304分别与复染盒430和第二染液密封容器4303连通，第二染液抽吸压力源4305用于将复染盒430内的第二染液抽吸到第二染液密封容器4303内；第二染液进液系统4302还可以包括第二染液进液管路4306和第二染液进液压力源4307。第二染液进液系统4302通过第二染液进液管路4306分别与复染盒430和第二染液密封容器4303连通，第二染液进液压力源4307将第二染液密封容器4303内的第二染液排出至复染盒430内。一种实施例，第二染液回收管路4304与第二染液进液管路4306可以为同一管路，第二染液进液压力源4305和第二染液抽吸压力源4307可以为同一压力源。
一种实施例，当复染盒430内无涂片200需要进行染色，或推片机100在接收到用户发出的第二染液回收指令后，第二染液回收系统4301将复染盒430内对应的第二染液回收至第二染液密封容器4303内进行存储。当复染盒430内有涂片200需要进行染色，或推片机100接收到用户发出的第二染液进液指令后，第二染液进液系统4302将第二染液密封容器4303内的第二染液排出至复染盒430内。
需要提出的是，推片机100也可以自动进行第二染液的回收动作。推片机100可以通过判断是否存在涂片200需要进行染色工作的方式来自动控制第二 染液的回收，具体判断方式包括：当复染盒430内无涂片200且无待染色涂片200被送入时，和/或复染盒430空闲时间超过预设值时。
一种实施例，染色机构40还包括有第二染液排放系统4308。第二染液排放系统4018与复染盒430或第二染液密封容器4303连通，当推片机100感测到第二染液达到排放要求时，或接收到用户发出的第二染液排放指令后，第二染液排放系统4308用于排放复染盒430或第二染液密封容器4303内的第二染液。
一种实施例请看回图11，隔离盒420包括贮存有缓冲液的促染盒422。促染盒423用于对经初染后的涂片200进行缓冲和清洗。
一种实施例，隔离盒420还包括盛有清洗液或缓冲液的第一清洗盒421，第一清洗盒421用于对经初染后，和/或促染盒422的缓冲和清洗处理后的涂片200进行清洗。
一种实施例，试剂盒41还包括盛有清洗液或缓冲液的第二清洗盒440。第二清洗盒440用于对经复染后的涂片200进行清洗。
为了提高操作的便利性，提高染色效率，在图11的实施例中，初染盒410、促染盒422、第一清洗盒421、复染盒430以及第二清洗盒440按顺序依次绕第一轴线001排列于底座43上，也即各个试剂盒41依次沿底座43的周向排列于底座43上。机械手51可以依次对应各个试剂盒41移动并进行相应操作，顺次完成涂片200各步骤的染色处理。这种排列可以使推片机100的结构更加紧凑，而且可使得试剂盒41在每次接片位401的旋转过程进入下一步操作时需要驱动的旋转角度最小，提高染色效率。可以理解的是初染盒410、促染盒422、第一清洗盒421、复染盒430以及第二清洗盒440可以一体成型也可以分开设置。
需要提出的是，本申请推片机100只限定了初染盒410、促染盒422、第一清洗盒421、复染盒430以及第二清洗盒440的依次排列，并没有限定各种试剂盒41的具体数量。以第一清洗盒421为例，可以在底座43上连续设置多个第一清洗盒421，多个第一清洗盒421中的清洗液或缓冲液可以不同，或者搭配比例不同，机械手51将涂片200依次置入不同的第一清洗盒421中进行清洗，以达到更好的清洗效果。当然，推片机100中也可以设置第一清洗盒 421的数量为零，通过促染盒422来对涂片200进行清洗，这样还可以达到缓冲的效果。利用缓冲液或清洗液对涂片200进行一次或一次以上的清洗，具体可视清洗效果以及需求而定。例如，底座43上可以只依次排列有初染盒410、促染盒422以及第一清洗盒421，即对涂片200只进行一次染色处理，同样可以作为一次完整的染色过程，并将进行了一次染色处理的涂片200流向镜检步骤。而以上实施例都属于本申请推片机100所需要保护的范围。
请参见图14，本发明还提出一种推片机控制方法，具体包括如下步骤：
S10、将血样加载到玻片上抹平以制成涂片200；
S20、驱动机械手提取涂片200，并沿第二方向002驱动机械手平移至放置位501；
S30、驱动底座43绕第一轴线001旋转以带动多个试剂盒41中的第一试剂盒4001旋转至接片位401；
S40、驱动机械手51朝向位于接片位401的第一试剂盒4001移动以将涂片200置入第一试剂盒4001中进行处理；
S50、第一试剂盒4001中的处理完成后，判断第一试剂盒4001是否处于接片位401：
若第一试剂盒4001处于接片位401，则驱动位于放置位501的机械手51朝向第一试剂盒4001移动，以将完成处理的涂片200从第一试剂盒4001中取出并进行下一步操作；
若第一试剂盒4001不处于接片位401，则驱动底座43绕第一轴线001旋转以将第一试剂盒4001转回接片位401，然后驱动位于放置位501的机械手51朝向第一试剂盒4001移动，以将完成处理的涂片200从第一试剂盒4001中取出并进行下一步操作。
对应到上述的推片机100，本推片机控制方法同样包括涂片200的制备环节，然后驱动机械手51提取待染色的涂片200。可以理解的，当涂片200需要进行初染时，第一试剂盒4001为初染盒410，机械手51需要在取片位502处提取涂片200，然后驱动机械手51沿第二方向002平移至放置位501，与初染盒410进行配合置入涂片200。而当涂片200已经在染色过程当中时，第一试剂盒4001还可能是染色过程中对涂片200进行处理的其它试剂盒41，此时 机械手51并不需要从取片位502处提取涂片200。本方法中多个试剂盒41需要连接到底座43，然后随底座43绕第一轴线001旋转，才能使得底座43带动多个试剂盒41中的第一试剂盒4001来到与机械手51配合的接片位401处。可以理解的，位于放置位501处的机械手51与位于接片位401处的第一试剂盒4001，均处于二者相互配合的配合位01位置。然后驱动机械手51朝向第一试剂盒4001移动以将涂片200置入第一试剂盒4001中对涂片200进行处理。也因为试剂盒41为多个，在涂片200于第一试剂盒4001里处理的过程中，其余试剂盒41也可能需要与机械手51进行配合以实现存取片。因此，在第一试剂盒4001中的涂片200在完成处理后，进入下一步操作之前，需要对第一试剂盒4001的位置进行确认。即，当第一试剂盒4001正处于其对应的接片位401时，可以直接驱动机械手51朝向第一试剂盒4001移动，以取出涂片200；当第一试剂盒4001未处于其对应的接片位401时，则需要驱动底座43旋转，将第一试剂盒4001旋转至其对应的接片位401处，再取出涂片200。
本推片机100的控制方法与装置实施例相同，同样通过试剂盒41与机械手51的配合运动来实现涂片200的染色操作。因为在试剂盒41与机械手51配合对位的过程中，只需要分别驱动试剂盒41绕第一轴线001做旋转运动，以及驱动机械手51沿第二方向002做平移运动，因此控制逻辑相对简单，易于实现。而且单自由度的旋转或平移运动利于精度控制。而当试剂盒41与机械手51完成对位之后，通过驱动机械手51朝向试剂盒41的单自由度移动来完成涂片200的置入动作，也属于较为简单的单自由度控制方式。由此，本控制方法同样采用了将原本由机械手单独完成的三自由度运动分解到试剂盒41与机械手51协作完成的方案。本推片机控制方法简化了机械手的控制复杂度，避免多自由度运动耦合带来的控制逻辑复杂、精度难于控制的缺陷。采用本推片机控制方法的推片机100提升了工作效率，且缩减了内部空间的占用，同时还起到了降低成本的效果。
一种实施例请参见图15，图15为图14步骤中S30的子步骤流程图。在本实施例中，试剂盒41用于贮存染液试剂，其中第一试剂盒4001中贮存有用于对涂片200进行处理的染液试剂。对于步骤S30“驱动底座绕第一轴线旋转以带动多个试剂盒中的第一试剂盒旋转至接片位”，本方法还可以包括：
S31、绕第一轴线001驱动底座43往复旋转以混匀试剂盒41内的染液试剂；
S32、绕第一轴线001驱动底座43将混匀后的第一试剂盒4001旋转至接片位401。
对应到前述的装置实施例中，试剂盒41内根据装承的染液试剂不同，需要按一定的比例制备染液和缓冲液的混合试剂，或在染液试剂消耗、挥发后进行续液操作。如果试剂盒41处于静置状态，则试剂盒41内不同成分或新旧不同的液体容易出现分层的问题。因此，本方法可以采用第一驱动系统42带动试剂盒41绕第一轴线001往复平移来混匀试剂盒41中的染液试剂，这其中就包括了第一试剂盒4001中用于初染的初染试剂的混匀操作。而且，底座43对第一试剂盒4001中染液试剂的混匀动作，也同样作用到多个试剂盒41中其它试剂盒41里的染液中并得到混匀。然后，第一驱动系统42再带动第一试剂盒4001旋转至接片位401处接收被置入的涂片200。
根据装置实施例的描述，推片机100中涂片200在染色机构40中的染色处理，通常需要经历多道染色工序，且多道染色工序之间需要对涂片200进行促染和清洗等处理，才能保证对经染色处理的涂片200镜检时得到更好的观测效果。一种实施例，多个试剂盒41用于贮存不同的染液试剂，其中染液试剂包括承装于初染盒410中的初染试剂，以及还包括促染试剂、清洗试剂以及复染试剂中的一者或多者，对应到下一步操作中对涂片200还要进行的促染、清洗以及复染中的一种操作处理或多种操作处理。需要提出的是，染液试剂的不同，并非指的所有试剂都用于涂片的染色，这里的染液试剂指的是可以为初染、促染、清洗以及复染不同操作中的试剂，也可以为同为清洗操作，其不同试剂盒41内的清洗试剂不同的情况。例如清洗试剂中清洗液的不同，或多种清洗液混合之后的配比不同等情况，都属于染液试剂不同。
一种实施例参见图16，多个试剂盒41还包括第二试剂盒4002，且第一试剂盒4001与第二试剂盒4002沿底座43的周向排列，第一试剂盒4001中的染液试剂与第二试剂盒4002中的染液试剂不同，且涂片200先在第一试剂盒4001中进行处理后，再在第二试剂盒4002中进行处理，本方法还包括：
S60、驱动位于放置位501的机械手51朝向第一试剂盒4001移动以将完 成第一次处理的涂片200取出第一试剂盒4001；
S70、驱动底座43绕第一轴线001旋转第一角度α，以使得第一试剂盒4001离开接片位401，且第二试剂盒4002处于接片位401；
S80、驱动机械手51朝向第二试剂盒4002移动以将涂片200置入第二试剂盒4002进行第二次处理。
可以理解的，对应到前述的实施例，试剂盒41可以包括初染盒410、促染盒422、第一清洗盒421、复染盒430以及第二清洗盒440，以先后对涂片200进行初染、促染、清洗、复染和清洗等处理操作。对应到第一试剂盒4001，通过本方法可以将完成第一次处理的涂片200从第一试剂盒4001中取出，然后通过底座43绕第一轴线001旋转第一角度α，将第一试剂盒4001转开，并使得第二试剂盒4002旋转至其对应的接片位401处。在这个过程中，机械手51因为一直处于放置位501，因此机械手51可以不用移动。当第二试剂盒4002旋转至接片位401时，再驱动机械手51朝向第二试剂盒4002移动以将从第一试剂盒4001中取出的涂片200直接置入第二试剂盒4002内进行第二次处理。本实施例方法提供了机械手51从第一试剂盒4001中提取出涂片200，然后迅速通过底座43带动第二试剂盒4002的旋转运动，将涂片200置入第二试剂盒4002中进行第二次处理的便利。因为机械手51一直处于放置位501，在底座43带动第二试剂盒4002旋转的过程中机械手51处于静止状态。而第二试剂盒4002被旋转至接片位401后，第二试剂盒4002又处于静止状态，并由机械手51移动以将涂片200置入第二试剂盒4002中。机械手51与底座43的的运动各自分开，实现了分别控制机械手51的平移以及底座43的旋转运动，在简化控制逻辑的前提下实现了涂片200的快速转移处理操作，提升了推片机100的工作效率。
实施例请参见图17，多个试剂盒41包括沿底座43的周向相邻排列的第一试剂盒4001、第二试剂盒4002和第三试剂盒4003。且第一试剂盒4001、第二试剂盒4002和第三试剂盒4003中的染液试剂也各不相同，涂片200依次在第一试剂盒4001、第二试剂盒4002和第三试剂盒4003中进行处理，本方法还包括：
S90、驱动位于放置位501的机械手51朝向位于接片位401的第二试剂盒 4002移动以将第二试剂盒4002中完成处理的涂片200取出第二试剂盒4002；
S100、驱动底座43旋转以使得第二试剂盒4002离开接片位401，且第三试剂盒4003旋转至接片位401；
S110、驱动机械手51朝向位于接片位401的第三试剂盒4003移动以将涂片200置入第三试剂盒4003中；
S120、驱动底座43旋转以将第一试剂盒4001旋转至接片位401；
S130、驱动位于放置位501的机械手51朝向第一试剂盒4001移动，以将完成处理的涂片200从第一试剂盒4001中取出以便在第二试剂盒4002中处理。
在本实施例中，机械手51对涂片200的移片操作，可以交叉进行。即机械手51在将第二试剂盒4002中完成处理的涂片200移片至第三试剂盒4003中后，在将第一试剂盒4001中完成处理的涂片200移片至第二试剂盒4002中。可以理解的，此处的涂片200为多个，多个涂片200均在多个试剂盒41中进行处理，且每个涂片200的处理进度可以相同也可以不同。机械手51在对多个涂片200同时进行移片操作时，可以始终处于放置位501处，通过底座43带动不同试剂盒41依次旋转至与机械手51配合的接片位401，再通过机械手51的取片、放片动作，实现多个涂片200在不同试剂盒41之间顺序得到处理的效果。
通常的，初染试剂为第一生物染料和第二生物染料的混合物，其中第一生物染料能够对血样中的嗜酸物质进行染色，第二生物染料能够对血样中的嗜碱物质进行染色。复染试剂为第三生物染料和缓冲液的混合物，第三生物染料能够对血样中的嗜酸物质或嗜碱物质进行染色。
一种实施例，第一试剂盒4001中的染液试剂为初染试剂，即对应到对涂片200进行初染的步骤。此时第二试剂盒4002中的染液试剂可以为促染试剂，第二试剂盒4002用于对完成初染的涂片200进行促染处理。第三试剂盒4003中的染液试剂可以为清洗试剂，此时第二试剂盒4002用于对完成初染的涂片200进行清洗处理。当然，第三试剂盒4003中的染液试剂也可以为复染试剂，以对完成初染的涂片200进行复染处理。
一种实施例，第一试剂盒4001中的染液试剂为促染试剂，第二试剂盒4002 中的染液试剂为清洗试剂，第三试剂盒4003中的染液试剂为复染试剂，第二试剂盒4002用于对完成促染处理的涂片200进行清洗处理，第三试剂盒4003用于对完成清洗处理的涂片200进行复染处理。
一种实施例，第一试剂盒4001中的染液试剂为清洗试剂，第二试剂盒4002中的染液试剂为复染试剂，第三试剂盒4003中的染液试剂为清洗试剂。第二试剂盒4002用于对完成清洗的涂片200进行复染处理，第三试剂盒4003用于对完成复染处理的涂片200进行清洗处理。
一种实施例，第一试剂盒4001中的染液试剂为复染试剂，第二试剂盒4002与第三试剂盒4003中的染液试剂均为清洗试剂，涂片200在完成复染之后可以得到两次清洗处理。
需要提出的是，本申请推片机控制方法，其具体实施方式可以对应到图1-图13中的装置实施例进行进一步解释。
以上在说明书、权利要求书以及附图中提及的特征，只要在本发明的范围内是有意义的，均可以任意相互组合。针对所述推片机100所说明的优点和特征以相应的方式适用于所述化学发光免疫分析仪和所述磁珠清洗分离方法，反之亦然。
以上所述的实施方式，并不构成对该技术方案保护范围的限定。任何在上述实施方式的精神和原则之内所作的修改、等同替换和改进等，均应包含在该技术方案的保护范围之内。

Claims (33)

  1. 一种推片机，其特征在于，包括：
    玻片装载机构，用于装载玻片；
    加样机构，用于将血样加载到所述玻片上；
    推片机构，用于将所述玻片上的血样抹平以制成涂片；
    染色机构，包括试剂盒、多个安放部件和第一驱动系统，所述多个安放部件设置于所述试剂盒内，所述安放部件用于形成插入所述涂片的插入区域，所述试剂盒内贮存染液试剂，所述涂片容置于所述插入区域时能浸渍在所述染液试剂中接受对应的处理，所述试剂盒顶部开口，所述第一驱动系统用于带动所述试剂盒绕第一轴线旋转；
    移片机构，包括机械手和第二驱动系统，所述机械手用于提取所述涂片并将所述涂片置入所述试剂盒内进行染色，所述第二驱动系统用于带动所述机械手沿第二方向往复平移；
    当所述第一驱动系统与所述第二驱动系统分别带动所述试剂盒与所述机械手分别运动至对应的配合位置后，所述第二驱动系统还用于带动所述机械手朝向所述试剂盒移动以将所述涂片从所述开口处置入所述试剂盒中进行染色或从所述试剂盒中取出所述涂片。
  2. 根据权利要求1所述的推片机，其特征在于，所述染色机构设有对应所述试剂盒的接片位和存储位，其中所述接片位对应所述试剂盒与所述机械手的所述配合位置，所述第一驱动系统带动所述试剂盒在所述存储位和所述接片位之间位置切换，以使得所述机械手将所述涂片置入位于所述接片位的所述试剂盒中，或将所述涂片从位于所述接片位的所述试剂盒中取出。
  3. 根据权利要求2所述的推片机，其特征在于，所述染色机构还包括连接于所述试剂盒与所述第一驱动系统之间的底座，所述底座为圆形，所述第一驱动系统带动所述试剂盒绕所述第一轴线旋转以切换于所述存储位和所述接片位之间。
  4. 根据权利要求2所述的推片机，其特征在于，所述染色机构还包括连接于所述试剂盒与所述第一驱动系统之间的底座，所述底座为扇形，所述第一 驱动系统带动所述试剂盒绕所述第一轴线往复旋转以切换于所述存储位和所述接片位之间。
  5. 根据权利要求1-4任意一项所述的推片机，其特征在于，所述第一驱动系统带动所述试剂盒于第一水平面内旋转以在所述存储位和所述接片位之间切换。
  6. 根据权利要求2-5任意一项所述的推片机，其特征在于，所述试剂盒数量为多个，所述染色机构对应每个所述试剂盒均设有至少一个所述放置位，所述机械手在各个所述放置位上将所述涂片放入其对应的所述试剂盒中，或将所述涂片从所述试剂盒中取出。
  7. 根据权利要求6所述的推片机，其特征在于，多个所述试剂盒沿所述底座的周向依次排列于所述底座上。
  8. 根据权利要求2-7所述的推片机，其特征在于，所述染色机构设有位置固定的盖板，所述盖板对应所述试剂盒的旋转路径设置于所述试剂盒的上方，所述盖板用于封盖所述试剂盒的所述开口，且所述盖板设有对应所述接片位的缺口，所述缺口用于容许所述机械手通过并将所述涂片从所述开口处置入所述试剂盒中进行染色或从所述试剂盒中取出所述涂片。
  9. 根据权利要求1-8任意一项所述的推片机，其特征在于，所述机械手的移动路径上设有对应所述机械手的取片位和放置位，且所述放置位对应所述试剂盒与所述机械手的所述配合位置，所述第二驱动系统包括第一驱动装置，所述第一驱动装置带动所述机械手在所述取片位和所述放置位之间位置切换，所述机械手在所述取片位提取所述涂片，所述机械手在所述放置位将所述涂片置入所述试剂盒中，或从所述试剂盒中取出所述涂片。
  10. 根据权利要求9所述的推片机，其特征在于，所述第二驱动系统还包括第二驱动装置，所述第二驱动装置用于在所述放置位带动所述机械手朝向所述试剂盒移动，以将所述涂片置入所述试剂盒中，或从所述试剂盒中取出所述涂片。
  11. 根据权利要求10所述的推片机，其特征在于，所述第一驱动装置带动所述机械手在第二水平面内平移以实现所述机械手在所述取片位和所述放置位之间的位置切换，且所述第二驱动装置带动所述机械手沿竖直方向往复移 动以将所述涂片置入所述试剂盒中或从所述试剂盒中取出所述涂片。
  12. 根据权利要求9-11任意一项所述的推片机，其特征在于，所述第一驱动装置带动所述机械手运动至所述放置位时，所述机械手在所述第一水平面上的投影位于所述试剂盒的旋转路径之内，所述第一驱动装置带动所述机械手运动至所述取片位时，所述机械手在所述第一水平面上的投影位于所述试剂盒的旋转路径之外，以使得所述推片机至少在所述第一水平面的上方，对应所述机械手行进方向的两侧位置形成两个容置空间。
  13. 根据权利要求12所述的推片机，其特征在于，所述底座为圆形，位于所述取片位时的所述机械手较位于处于所述放置位时的所述机械手远离所述底座的圆心，以使得所述推片机在所述第一水平面的上方，对应处于所述放置位的所述机械手朝向所述底座的圆心一侧也形成一容置空间，且所述容置空间分别连通对应所述机械手行进方向的两侧的两个容置空间。
  14. 根据权利要求5-13任意一项所述的推片机，其特征在于，所述第二方向在所述第一水平面上的投影穿过所述底座的几何中心。
  15. 根据权利要求1-14任意一项所述的推片机，其特征在于，所述试剂盒包括初染盒和隔离盒，所述初染盒中贮存有第一染液以用于对所述涂片进行初染，所述第一染液为第一生物染料和第二生物染料的混合物，所述第一生物染料能够对血样中嗜酸物质进行染色，所述第二生物染料能够对血样中嗜碱物质进行染色；所述隔离盒中贮存的试剂用于在初染后复染前对血样进行处理。
  16. 根据权利要求15所述的推片机，其特征在于，所述试剂盒还包括复染盒，所述复染盒中贮存有第二染液以用于对所述涂片进行复染，所述第二染液为第三生物染料和缓冲液的混合物，所述第三生物染料能够对血样中嗜碱物质或嗜碱物质进行染色。
  17. 根据权利要求15或16所述的推片机，其特征在于，所述第一驱动系统还带动所述试剂盒绕所述第一轴线往复旋转以混匀所述试剂盒中的染液试剂。
  18. 根据权利要求15-17所述的推片机，其特征在于，所述染色机构还包括第一染液回收系统、第一染液进液系统和第一染液密封容器，所述第一染液回收系统分别与所述第一染液密封容器和所述染色盒相通，用以将所述染色盒 内对应的所述第一染液回收至所述第一染液密封容器；所述第一染液进液系统分别与所述第一染液密封容器和所述染色盒相通，用以将所述第一染液密封容器内的所述第一染液重新排出至所述染色盒内。
  19. 根据权利要求15-18所述的推片机，其特征在于，当所述初染盒内无所述涂片需要进行染色或接收到用户发出的第一染液回收指令后，所述第一染液液路控制系统将所述初染盒内对应的所述第一染液回收至所述第一染液密封容器；当所述初染盒内有涂片需要进行染色或接收到用户发出的第一染液进液指令后，所述第一染液液路控制系统将所述第一染液密封容器内的所述第一染液排出至所述初染盒内。
  20. 根据权利要求15-19任意一项所述的推片机，其特征在于，所述染色机构还包括第一染液排放系统，所述第一染液排放系统与所述初染盒或所述第一染液密封容器连通，当所述第一染液达到排放要求时或接收到用户发出的第一染液排放指令后，所述第一染液排放系统排放所述初染盒或所述第一染液密封容器内的第一染液。
  21. 根据权利要求15-20任意一项所述的推片机，其特征在于，所述隔离盒包括贮存有缓冲液的促染盒，所述促染盒用于对经初染后的所述涂片进行缓冲和清洗。
  22. 根据权利要求15-21任意一项所述的推片机，其特征在于，所述隔离盒还包括盛有清洗液或缓冲液的第一清洗盒，所述第一清洗盒用于对经所述初染后和/或所述促染盒处理后的所述涂片进行清洗。
  23. 根据权利要求15-22任意一项所述的推片机，其特征在于，所述试剂盒还包括盛有清洗液或缓冲液的第二清洗盒，所述第二清洗盒用于对经复染后的所述涂片进行清洗。
  24. 根据权利要求23所述的推片机，其特征在于，所述初染盒、所述促染盒、所述第一清洗盒、所述复染盒以及所述第二清洗盒按顺序依次沿所述底座的周向排列于所述底座上。
  25. 一种推片机控制方法，其特征在于，包括如下步骤：
    将血样加载到玻片上抹平以制成涂片；
    驱动机械手提取所述涂片，并沿第二方向驱动所述机械手平移至放置位；
    驱动底座绕第一轴线旋转以带动多个试剂盒中的第一试剂盒旋转至接片位；
    驱动所述机械手朝向位于接片位的所述第一试剂盒移动以将所述涂片置入所述第一试剂盒中进行处理；
    所述第一试剂盒中的处理完成后，判断所述第一试剂盒是否处于所述接片位：
    若所述第一试剂盒处于所述接片位，则驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出并进行下一步操作；
    若所述第一试剂盒不处于所述接片位，则驱动所述底座绕第一轴线旋转以将所述第一试剂盒转回所述接片位，然后驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出并进行下一步操作。
  26. 根据权利要求25所述的推片机控制方法，其特征在于，所述多个试剂盒用于贮存染液试剂，所述驱动底座绕第一轴线旋转以使得多个试剂盒中的第一试剂盒旋转至接片位，还包括：
    绕所述第一轴线驱动所述底座往复旋转以混匀所述试剂盒内的染液试剂；
    绕所述第一轴线驱动所述底座将混匀后的所述第一试剂盒旋转至所述接片位。
  27. 根据权利要求25或26所述的推片机控制方法，其特征在于，所述多个试剂盒还包括第二试剂盒，所述第一试剂盒与所述第二试剂盒沿所述底座的周向排列，所述第一试剂盒中的染液试剂与所述第二试剂盒中的染液试剂不同，且所述涂片先在所述第一试剂盒中进行处理后，再在所述第二试剂盒中进行处理，所述方法还包括：
    驱动位于放置位的所述机械手朝向所述第一试剂盒移动以将完成第一次处理的所述涂片取出所述第一试剂盒；
    驱动底座绕第一轴线旋转第一角度，以使得所述第一试剂盒离开所述接片位，且所述第二试剂盒处于所述接片位；
    驱动所述机械手朝向所述第二试剂盒移动以将所述涂片置入所述第二试 剂盒进行第二处理。
  28. 根据权利要求27所述的推片机控制方法，其特征在于，所述多个试剂盒还包括第三试剂盒，所述第一试剂盒、所述第二试剂盒和所述第三试剂盒沿所述底座的周向依次排列，所述第一试剂盒、所述第二试剂盒和所述第三试剂盒中的染液试剂各不相同，且所述涂片依次在所述第一试剂盒、第二试剂盒和第三试剂盒中进行处理，本方法还包括：
    驱动位于放置位的所述机械手朝向位于所述接片位的所述第二试剂盒移动以将第二试剂盒中完成处理的涂片取出所述第二试剂盒；
    驱动所述底座旋转以使得所述第二试剂盒离开所述接片位，且所述第三试剂盒旋转至所述接片位；
    驱动所述机械手朝向位于接片位的所述第三试剂盒移动以将所述涂片置入所述第三试剂盒中；
    驱动所述底座旋转以将所述第一试剂盒旋转至所述接片位；
    驱动位于放置位的所述机械手朝向所述第一试剂盒移动，以将完成处理的所述涂片从所述第一试剂盒中取出以便在所述第二试剂盒中处理。
  29. 根据权利要求24-28任意一项所述的推片机控制方法，其特征在于，所述多个试剂盒用于贮存染液试剂，所述染液试剂包括承装于初染盒中的初染试剂，所述染液试剂还包括促染试剂、清洗试剂以及复染试剂中的一者或多者，对应所述下一步操作中所述涂片的促染、清洗以及复染中的一种操作处理或多种操作处理。
  30. 根据权利要求29所述的推片机控制方法，其特征在于，所述第一试剂盒中的所述染液试剂为初染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为促染试剂、清洗试剂或复染试剂中的一者。
  31. 根据权利要求29所述的推片机控制方法，其特征在于，所述第一试剂盒中的所述染液试剂为促染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为清洗试剂或复染试剂中的一者。
  32. 根据权利要求29所述的推片机控制方法，其特征在于，所述第一试剂盒中的所述染液试剂为清洗试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂分别为复染试剂或清洗试剂中的一者。
  33. 根据权利要求29所述的推片机控制方法，其特征在于，所述第一试剂盒中的所述染液试剂为复染试剂，所述第二试剂盒和所述第三试剂盒中的所述染液试剂均为清洗试剂。
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