CN114002028A - Automatic slide scanning system and control method - Google Patents
Automatic slide scanning system and control method Download PDFInfo
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- CN114002028A CN114002028A CN202111095058.5A CN202111095058A CN114002028A CN 114002028 A CN114002028 A CN 114002028A CN 202111095058 A CN202111095058 A CN 202111095058A CN 114002028 A CN114002028 A CN 114002028A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 70
- 238000005259 measurement Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004904 shortening Methods 0.000 abstract description 2
- 230000001575 pathological effect Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Microscoopes, Condenser (AREA)
Abstract
The invention discloses an automatic slide scanning system and a control method, wherein the scanning system comprises: the scanning unit is used for taking the slide, the transfer station and the control unit are used for controlling the clamping device to execute actions, the actions are waiting for the scanning unit to finish the waiting actions of residual scanning, take out the slide to be scanned and place the slide in the taking-out action of the transfer station for a shorter time. According to the invention, through the arrangement, the transfer station is arranged, so that the position for placing the slide can be additionally provided in addition to the normal scanning process, the slide taking action is realized while scanning is carried out, the slide taking waiting time after each scanning is saved, and due to the comparison and selection of the action time, the whole action process cycle of scanning and slide taking can be further optimized, the effect of obviously shortening the scanning cycle is achieved, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of scanning equipment, in particular to an automatic slide scanning system and a control method.
Background
Pathological examination requires a doctor to observe a pathological slide with a microscope in the eyes, and the doctor needs to repeatedly observe pathological change information on the slide, which results in low diagnosis efficiency. Therefore, the slide scanning image system can replace the manual slide observation, convert the slide into the digital pathological slide by utilizing the digital microscopic imaging, observe the slide on a computer and carry out the amplification observation on any position.
At present, the slide scanning system is widely applied to the diagnosis of pathology, hematology, cytology and the like, and is widely applied to clinical diagnosis. Correspondingly, related devices in the slide scanning system have been developed to some extent, for example, slide scanners are currently of the single-slide scanner type, the multi-slide scanner type, and the like.
More sophisticated slide scanning systems typically include a slide magazine for storing slides, a scanning device for scanning the slides, and a gripper device for picking and placing slides therebetween. And the clamping jaw equipment takes out the slide in the slide bin, places the slide on scanning equipment for scanning imaging, and places the slide back into the slide bin after scanning.
Because pathological samples recorded in each slide are different, a scanning camera needs to perform multiple steps of slide positioning, focusing, scanning and the like during scanning imaging, and the time length required for performing the process for different pathological slides is different, so that the clamping jaws need to wait for different time lengths during scanning, and the scanning efficiency is low easily.
Disclosure of Invention
The invention provides an automatic slide scanning system and a control method, aiming at solving the defect of low efficiency in slide scanning in the prior art.
The technical scheme adopted by the invention is that the automatic slide scanning system comprises:
the scanning unit comprises a collecting device for scanning the slide, and a scanning station matched with the collecting device;
at least one taking unit which comprises a clamping device for taking and placing the slide;
at least one transfer station for placing and taking out slides to be scanned;
and the control unit controls the clamping device to execute an action, wherein the action is one of waiting for the scanning unit to finish the rest scanning and taking out the slide to be scanned and placing the slide to be scanned in the taking-out action of the transfer station, and the time length of the action is shorter.
Preferably, the control unit includes:
the first determination module is used for acquiring the scanning progress of the current slide scanned by the acquisition device and confirming the waiting action duration of the scanning unit for completing the rest scanning according to the scanning progress;
the second measuring module is used for confirming the taking-out action time length required by the clamping device for taking out the slide to be scanned to the transfer station;
and the control module compares the waiting action duration with the taking-out action duration and controls the clamping device to execute the action with shorter duration according to a comparison result.
Preferably, the first measuring module comprises a grating ruler for acquiring the scanning progress, and the grating ruler is arranged at the scanning station or at the scanning station and the transfer station.
Preferably, the transfer station is arranged on the scanning unit and/or the sheet taking unit.
Preferably, the transfer station is arranged on the scanning unit, and the number of the slides clamped by the clamping device at one time is less than the sum of the number of the slides which can be placed in the transfer station and the scanning station.
Preferably, the transfer station is arranged on the slide taking unit, and the number of the slides taken out by the transfer station and the clamping device at one time is larger than the number of the slides which can be placed in the scanning station.
The invention also provides a slide automatic scanning control method, which adopts the scheme that the method comprises the following steps:
taking out a slide to be scanned and scanning;
determining the duration of waiting for the current slide to finish the waiting action of the rest scanning and the duration of taking out the slide to be scanned, and executing the action with shorter duration;
and step three, taking out and returning the slide which is completely scanned, and scanning the next slide to be scanned.
Preferably, when the waiting action is performed in the second step, the third step is to take out the slide that has been scanned and send it back to the slide storage, and then take out the next slide to be scanned and send it to the scanning position for scanning.
Preferably, when the taking out action is performed in the second step, the third step returns the taken out slide on which the scanning is completed to the slide storage and takes out the next slide to be scanned while the next slide to be scanned is scanned.
Preferably, when the taking-out action is executed in the second step, the next slide to be scanned to be taken out is placed at the transfer station, and the distance between the transfer station and the scanning position is smaller than the distance of the taking-out action.
Compared with the prior art, the invention has the following beneficial effects:
1. the transfer station is arranged, so that the position for placing the slide can be additionally provided in addition to the normal scanning process, the slide taking action is realized while scanning is performed, the slide taking waiting time after each scanning is saved, and the whole scanning and slide taking action process cycle can be further optimized due to comparison and selection of action time, so that the effect of obviously shortening the scanning cycle is achieved, and the working efficiency is improved;
2. the light source device during scanning is started only within a fixed time length before and after scanning, and the scanning action is accurately matched, so that the energy waste of long-time light source brightness can be reduced, the cost is reduced, and the service life of the scanning device is prolonged;
3. the automation degree of the whole process of slide scanning is high, the working procedures are smoothly connected, and the slide scanning device can meet the requirement of large-batch scanning.
Drawings
FIG. 1 is a flow chart of a control method in one embodiment.
Detailed Description
An automated slide scanning system, comprising:
the scanning unit comprises a collecting device for scanning the slide, and a scanning station matched with the collecting device;
at least one taking unit which comprises a clamping device for taking and placing the slide;
at least one transfer station for placing and taking out slides to be scanned;
and the control unit controls the clamping device to execute an action, wherein the action is one of waiting for the scanning unit to finish the rest scanning and taking out the slide to be scanned and placing the slide to be scanned in the taking-out action of the transfer station, and the time length of the action is shorter.
During scanning, slides are stored in advance in a storage device, generally a slide magazine with various capacities, a collection device is generally a scanning camera, and a corresponding scanning station is arranged on an object stage. The scanning operation process can be understood as that the slide taking unit takes out the slide to be scanned at the slide bin, conveys the slide to the scanning station, the acquisition device carries out scanning operation, uploads the obtained image to storage equipment such as a computer after scanning is finished, and the slide taking unit takes out the slide which is scanned and returns the slide to the slide bin, namely, the scanning process of one slide is finished.
Wherein, this embodiment has set up the transfer station to get slide total amount that can place on piece unit and the transfer station and can be greater than the slide quantity that is scanning on the scanning station, like this when a slice slide scanning is accomplished the back, press from both sides the device and take out it simultaneously, press from both sides the device and can also place the slide in the transfer station immediately in the scanning station, in order to reach the extremely short effect in twice scanning interval, shorten the time cycle of scanning. Of course, when the clamping device takes out the scanned slide, the collecting device moves to the transfer station; or after the slide is scanned, the transfer station replaces the position of the scanning station so as to facilitate the scanning of the collecting device.
Further, through the setting of the control unit, the execution action of the clamping device in the sheet taking unit can be controlled, the main reason is that after the first slide which is completely scanned is taken out by the clamping device, the second slide is scanned by the collecting device, and the clamping device can execute two actions:
after the scanning is finished, taking out the second slide, sending the second slide and the first slide back to the slide bin, and taking out the plurality of slides to perform the next scanning operation;
or, the slide magazine is returned immediately, the first slide is put back, the third slide is taken out simultaneously, and the third slide is conveyed to a transfer station, so that the next scanning is conveniently linked.
Because the slide is scanned, the slide is generally subjected to a plurality of processes of positioning, focusing and imaging, and the time required by different slides is different; at the same time, there is a certain difference in the storage positions of the slides in the slide magazine, which also results in a small variation in the time taken for the gripping device to travel to and from the scanning unit and the slide magazine. This results in that the time period required for the gripping apparatus to perform the above two actions varies, and if the gripping apparatus is set to perform only one of the actions at all times, it is inevitable that the flow cycle is long. Therefore, under the control of the control unit, the clamping device always executes the shorter one of the two actions, so that the total scanning period can be obviously shortened, and the working efficiency is improved.
Specifically, the control unit includes:
the first determination module is used for acquiring the scanning progress of the current slide scanned by the acquisition device and confirming the waiting action duration of the scanning unit for completing the rest scanning according to the scanning progress;
the second measuring module is used for confirming the taking-out action time length required by the clamping device for taking out the slide to be scanned to the transfer station;
and the control module compares the waiting action duration with the taking-out action duration and controls the clamping device to execute the action with shorter duration according to a comparison result.
When the acquisition device scans, the grating ruler can synchronously obtain process data of the acquisition device, so that the remaining time length for completing scanning is calculated, namely the time length for waiting the clamping device.
The second determining module may be a sensing device for measuring the moving distance of the gripper, or may be a method of determining the average time of the gripper between the shuttle and the magazine and the scanning unit in advance, and setting a preset value of the duration.
With respect to the configuration of the relay station, in one embodiment, the relay station is disposed at the scanning unit and also opens on the stage and is juxtaposed to the scanning station, i.e., the relay station is the second scanning station, and both are matched to a common scanning camera. In the embodiment, the clamping device takes one slide at a time, and after the slide is placed on the scanning station, the clamping device decides to execute a waiting action or a slide taking action according to the judgment of the control unit.
The matching relationship between the transfer station and the acquisition equipment can be realized by moving the transfer station, for example, the position of the transfer station and the position of the scanning station are switched by sliding; or the acquisition device can be moved, for example, a driving structure is arranged to drive the acquisition device to translate.
Of course, the cooperation relationship formed by one clamping device, one scanning station, one scanning camera and one transfer station can be used as a basic unit module, and in different embodiments, a plurality of unit modules can be integrated for the sake of improving the work efficiency and the yield, or for the sake of saving the cost, for example, two clamping devices are integrated into one mechanism which has the capability of taking two slides at a time, two object stages are arranged in parallel, and two scanning stations and two transfer stations are arranged on the two object stages, so that two scanning lines can be formed. Of course, the two gripping devices may not be integrated into one device, and may operate independently of each other.
In another embodiment, the transfer station can be arranged on the gripping device, and the number of slides taken out by the transfer station and the gripping device at one time is larger than the number of slides that can be placed by the scanning station. When the first clamping device places the slide clamped by the first clamping device in the scanning station for scanning, both clamping devices are blank at the moment, and the first clamping device can perform waiting action or perform slide taking action. And if the slide taking action is executed, only one slide is taken and placed on the transfer station (namely the second clamping device), after the slide is returned to the scanning unit position, the first clamping device takes out the scanned slide, and then the second clamping device places the second slide on the first clamping device on the scanning station to realize the connection of the scanning action.
Of course, the cooperation relationship between a gripper, a scanning station, a scanning camera and a transfer station (also a gripper) can be used as a basic unit module, and in different embodiments, a plurality of unit modules can be integrated for the purpose of improving the work efficiency and the yield, or for the purpose of saving the cost.
In addition, a control method of the automatic slide scanning system is further disclosed, as shown in fig. 1, which comprises the following steps:
taking out a slide to be scanned and scanning;
determining the duration of waiting for the current slide to finish the waiting action of the rest scanning and the duration of taking out the slide to be scanned, and executing the action with shorter duration;
and step three, taking out and returning the slide which is completely scanned, and scanning the next slide to be scanned.
The second step can be divided into two cases due to different actions: when the waiting action is executed in the second step, the third step is to take out the slide which is completely scanned and send the slide back to the slide storage place, and then take out the next slide to be scanned and send the slide to the scanning place for scanning; and when the taking-out action is executed in the second step, in the third step, after the acquisition device finishes scanning, the clamping device takes out the scanned slide, the acquisition device scans the slide to be scanned which rotates in the transfer station, and meanwhile, the clamping device conveys the taken-out slide to be scanned back to the slide storage position and takes out the slide to be scanned.
Determining the time length of the waiting action of waiting for the current slide to finish the residual scanning, wherein the time length can be obtained by adopting the grating ruler structure, or adopting other devices with measuring functions such as a position sensor and the like, or carrying out real-time feedback analysis on the scanning process by utilizing a big data technology; when the time length of taking out action of taking out the next slide to be scanned is determined, the travel can be calculated according to the position of the slide and the position of the clamping device, the required time length can be calculated, the travel can be realized by length measuring instruments such as a distance sensor, the round-trip travel and the time length of the clamping device can also be measured in advance, and an average value can be determined to be used as the slide taking time length.
In addition, the scanning unit comprises a collecting device and a scanning station, wherein the scanning station is arranged on the objective table, when the taking-out action is executed in the second step, the next slide to be scanned is taken out and placed at the transfer station, and the distance between the transfer station and the scanning position (scanning station) is smaller than the distance between the taking-out action (scanning station and slide bin).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic slide scanning system, comprising:
the scanning unit comprises a collecting device for scanning the slide, and a scanning station matched with the collecting device;
at least one taking unit which comprises a clamping device for taking and placing the slide;
at least one transfer station for placing and taking out slides to be scanned;
and the control unit controls the clamping device to execute an action, wherein the action is one of waiting for the scanning unit to finish the rest scanning and taking out the slide to be scanned and placing the slide to be scanned in the taking-out action of the transfer station, and the time length of the action is shorter.
2. The slide auto-scanning system of claim 1, wherein the control unit comprises:
the first determination module is used for acquiring the scanning progress of the current slide scanned by the acquisition device and confirming the waiting action duration of the scanning unit for completing the rest scanning according to the scanning progress;
the second measuring module is used for confirming the taking-out action time length required by the clamping device for taking out the slide to be scanned to the transfer station;
and the control module compares the waiting action duration with the taking-out action duration and controls the clamping device to execute the action with shorter duration according to a comparison result.
3. The automatic slide scanning system of claim 2, wherein the first measurement module comprises a linear scale for collecting the scanning progress, and the linear scale is disposed at the scanning station, or disposed at the scanning station and the transfer station.
4. The slide autoscan system of claim 1, wherein said transfer station is disposed on said scanning unit and/or said slide-taking unit.
5. The automatic slide scanning system of claim 4, wherein the transfer station is disposed on the scanning unit, and the number of slides gripped at one time by the gripping device is smaller than the sum of the number of slides that can be placed in the transfer station and the scanning station.
6. The automatic slide scanning system of claim 4, wherein the transfer station is disposed on the slide taking unit, and the transfer station and the gripping device take out a number of slides at a time greater than the number of slides that can be placed in the scanning station.
7. The automatic scanning control method of the slide is characterized by comprising the following steps:
taking out a slide to be scanned and scanning;
determining the duration of waiting for the current slide to finish the waiting action of the rest scanning and the duration of taking out the slide to be scanned, and executing the action with shorter duration;
and step three, taking out and returning the slide which is completely scanned, and scanning the next slide to be scanned.
8. The slide automatic scanning control method according to claim 7, wherein when the waiting action is performed in the second step, the third step is to take out the slide that has been scanned and send it back to the slide storage, and then take out the next slide to be scanned and send it to the scanning place for scanning.
9. The slide automatic scan control method of claim 7, wherein when the taking out action is performed in the second step, the third step returns the taken out slide on which the scanning is completed to the slide storage and takes out the next slide to be scanned while the next slide to be scanned is being scanned.
10. The slide automatic scanning control method according to claim 7, wherein when the taking action is performed in the second step, the next slide to be scanned to be taken out is placed at a transfer station, and the distance between the transfer station and the scanning position is smaller than the distance of the taking action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111095058.5A CN114002028A (en) | 2021-09-17 | 2021-09-17 | Automatic slide scanning system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111095058.5A CN114002028A (en) | 2021-09-17 | 2021-09-17 | Automatic slide scanning system and control method |
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| CN114002028A true CN114002028A (en) | 2022-02-01 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002253545A (en) * | 2001-02-28 | 2002-09-10 | Nippon Telegr & Teleph Corp <Ntt> | Medical image interpretation recording device, medial image interpretation supporting device and system, medical image interpretation recording program, recording medium for this program, and medical image interpretation support processing program |
| EP1762878A1 (en) * | 2005-09-12 | 2007-03-14 | Olympus Corporation | Observation apparatus and observation method |
| CN205496098U (en) * | 2016-03-19 | 2016-08-24 | 中国计量学院 | Full -automatic ABS ring gear defect visual inspection device |
| CN111189832A (en) * | 2020-03-02 | 2020-05-22 | 深圳市生强科技有限公司 | Multi-slide scanning system |
-
2021
- 2021-09-17 CN CN202111095058.5A patent/CN114002028A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002253545A (en) * | 2001-02-28 | 2002-09-10 | Nippon Telegr & Teleph Corp <Ntt> | Medical image interpretation recording device, medial image interpretation supporting device and system, medical image interpretation recording program, recording medium for this program, and medical image interpretation support processing program |
| EP1762878A1 (en) * | 2005-09-12 | 2007-03-14 | Olympus Corporation | Observation apparatus and observation method |
| CN205496098U (en) * | 2016-03-19 | 2016-08-24 | 中国计量学院 | Full -automatic ABS ring gear defect visual inspection device |
| CN111189832A (en) * | 2020-03-02 | 2020-05-22 | 深圳市生强科技有限公司 | Multi-slide scanning system |
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