EP3956671A1 - Verfahren und vorrichtung zum scannen von objektträgern - Google Patents
Verfahren und vorrichtung zum scannen von objektträgernInfo
- Publication number
- EP3956671A1 EP3956671A1 EP20720736.6A EP20720736A EP3956671A1 EP 3956671 A1 EP3956671 A1 EP 3956671A1 EP 20720736 A EP20720736 A EP 20720736A EP 3956671 A1 EP3956671 A1 EP 3956671A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- slide
- specimen
- feed unit
- slides
- holder
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000000151 deposition Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 description 5
- 230000002950 deficient Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000006059 cover glass Substances 0.000 description 1
- 238000004043 dyeing Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00029—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor provided with flat sample substrates, e.g. slides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/32—Micromanipulators structurally combined with microscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/34—Microscope slides, e.g. mounting specimens on microscope slides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00029—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor provided with flat sample substrates, e.g. slides
- G01N2035/00039—Transport arrangements specific to flat sample substrates, e.g. pusher blade
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00029—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor provided with flat sample substrates, e.g. slides
- G01N2035/00099—Characterised by type of test elements
- G01N2035/00138—Slides
Definitions
- the present invention relates to a method and a device for scanning specimen slides.
- Specimen slide scanners which have loading devices which can be loaded with a large number of individual specimen slides to be scanned.
- Slide scanners are also known which have magazines specially designed for the respective scanner that can be loaded with slides. The slide scanner can thus scan in the individual slides one after the other without the slides having to be inserted individually into the slide scanner before each scanning process.
- WO 97/03447 discloses an automatic slide scanner comprising a magazine which can be loaded with slides to be scanned.
- DE 60 2004 002 700 T2 discloses a carrier feed unit for an automatic scanning microscope, which contains a magazine for receiving the slides, from which the slides can be removed by means of a complex device.
- a disadvantage of the known specimen slide scanners is that the loading devices or magazines have to be manually filled with specimen slides by the Slides must be removed individually from the slide holders in which they are usually stored and pushed into the loading device or magazine. After the scanning process, the slides must be manually removed from the loading device or the magazine.
- the scanning time can vary considerably from slide to slide and depends on the size of the surface of the sample material to be examined.
- Another disadvantage of the known devices and methods is that a slide scanner that happens to be loaded with many samples to be scanned for a long time requires considerably longer than a second slide scanner that is loaded with samples to be scanned only briefly. It is therefore also disadvantageous that it is very labor-intensive and time-consuming to reload samples from the slide scanner that has not yet completed the scan job to the other slide scanner that has already completed the scan job in order to utilize both specimen slide scanners and reduce the total scanning time to reach.
- the object of the invention is to provide a method for scanning specimen slides which overcomes the disadvantages known from the prior art.
- the object of the invention can thus be seen, inter alia, in providing a method for scanning specimen slides in which no complex loading and unloading of the specimen slide scanner is necessary, in which the not yet scanned samples are automatically scanned even if a specimen slide scanner fails, and in which the total scan time is reduced.
- a method for scanning specimen slides using a device with at least one feed unit for specimen slide holders, with at least two specimen slide scanners, with at least one storage device and with at least one industrial robot comprising the steps of
- steps b) to e) are carried out by the at least one industrial robot.
- a feed unit is thus provided in which the specimen slide holders with the specimen slides to be scanned are stored centrally until the scanning process, regardless of which of the specimen slide scanners will carry out the scanning process.
- Slide scanners are therefore not manually pre-loaded with a large number of slides that are scanned one after the other. Rather, the specimen slide scanners are automatically loaded individually from the at least one central feed unit with the specimen slide to be scanned. As soon as one of the slide scanners has completed the scanning process, the slide is removed and placed in the storage device. Then a new slide is removed from the feed unit and placed in the slide scanner that was emptied last. As a result, all the specimen slide scanners are regularly used to capacity, and the specimen slides still to be scanned stored in the feed unit are scanned even if one of the specimen slide scanners should fail.
- the order of the slides to be scanned can be changed at any time by exchanging slide holders or individual slides without interrupting the process got to.
- the scan sequence can be set or changed without interrupting the process.
- the feed unit is designed to receive specimen slide holders.
- the feed unit is preferably designed in such a way that specimen slide holders from different manufacturers and with a different number of slots can be accommodated randomly one after the other.
- the feed unit has at least one base plate and at least one end wall. It is also provided according to the invention that the device comprises two or more feed units, so that different feed units can be used for different types of slide holders.
- the feed unit is preferably arranged at an angle such that a slide holder placed on the base plate slides against the front wall of the feed unit or against a slide holder already present in the feed unit due to the force of weight.
- the base plate of the feed unit thus forms a beveled plane. In this way it is ensured that in the case of a feed unit loaded with specimen slide holders, a specimen slide holder is always in contact with the end wall.
- the feed unit has the shape of a U-profile, in which at least one end is closed with an end wall.
- the U-profile is preferably arranged so that the specimen slide holder can be inserted into the profile from above.
- One end with an end wall is preferably arranged lower than the other end, so that the base plate of the feed unit represents an inclined plane.
- a slide holder is a holder in which several slides can be arranged essentially parallel to one another.
- the slide holders preferably have slots for 3 to 50 slides each.
- the specimen slides are preferably arranged in the slots in such a way that one narrow side of the specimen slide is facing up and the other narrow side is facing down demonstrate. The slides can be pulled out of the slide holder on the upper narrow side.
- the step of removing the slide from the slide holder preferably comprises a shaking step in which the slide gripped by the industrial robot is shaken before and / or during removal from the slide. Carrying out such a shaking movement causes jammed in the specimen slide holder and / or adhesive residue from the
- the specimen slide holder and the feed unit are preferably designed in such a way that the feed unit can only be loaded with one specimen slide holder which is arranged in the intended orientation. This means that the slide holder can only be loaded into the feed unit if the slide is oriented so that a designated side of the
- Slide holder to the front wall of the feed unit shows. This can be achieved in that one side of the specimen slide holder has an elevation or a nose which can be brought into engagement with a corresponding protuberance or recess in the loading area of the feed unit.
- the two outwardly directed sides of the specimen slide holder which are arranged in the feed unit parallel to the two side surfaces of the U-profile of the feed unit, thus differ from one another.
- the two side surfaces of the U-profile of the feed unit also differ from one another.
- the hold-down device is preferably a nose or protuberance arranged on the feed unit. To remove the specimen slide holder, it must first be moved from the end wall and thus the hold-down device in the direction of the other end of the feed unit so that it can then be removed from the feed unit upwards.
- the industrial robot preferably removes a specimen slide from the first specimen slide holder resting against the end wall. Since, under certain circumstances, not all slots of the specimen slide holder are occupied by specimen slides, the industrial robot picks up the individual, possibly empty, slots one after the other until it reaches an occupied slot from which it can remove the slide. In this way it is ensured that the specimen slides arrive in one of the specimen slide scanners in the order in which they are located in the specimen slide holder and that each specimen slide is scanned.
- the method also includes the steps
- steps f) and g) are preferably carried out by the at least one industrial robot.
- steps f) and g) are carried out after step c) when all slides of a slide holder are taken.
- the now empty specimen slide holder is thus removed from the feed unit and the specimen slides of a further specimen slide holder arranged in the feed unit can be removed for scanning.
- the downstream slide holders automatically slide towards the front wall. The automatic removal of the emptied slide holders creates space for loading the feed unit with additional slide holders.
- “slide” is understood to mean a slide that contains the sample to be scanned.
- the sample is usually arranged between the slide glass plate and a cover glass or a transparent film.
- the slide can also include a code that allows conclusions to be drawn about the sample or the affiliation of the sample.
- the method according to the invention comprises a step in which the slide code is scanned.
- the information on the position and / or in which storage device the scanned slide is stored is stored.
- the slides, in particular their codes are preferably detected by a separate scanner before being deposited in the depositing device, so that the depositing location of each scanned specimen can be read out at any time.
- a check is preferably carried out to determine whether the specimen slides are damaged. This ensures that no specimen slide part broken off during the loading or unloading process remains in one of the specimen slide scanners.
- the length of the slide is preferably checked.
- the length check is preferably carried out mechanically.
- the specimen slide is particularly preferably guided past a switch, in particular a microswitch, in such a way that it is only triggered when the specimen slide has the original length.
- a switch in particular a microswitch
- the slides which cannot be scanned by the slide scanner and / or for which the slide code is not readable and / or for which damage has been found not in the storage device but in a separate collection device for defective slides. This means that these defective specimen slides do not have to be subsequently searched for from the storage device for assessment. This also applies to specimen slides incorrectly inserted into a specimen slide holder which, if their specimen slide codes cannot be read out, are stored in the separate collecting device.
- the filing device is a device in which the specimen slides are placed randomly or in order after the scanning process.
- the specimen slides are preferably deposited in the order in which they are removed from the scanners and thus in the order in which they reach the depositing device, regardless of whether they were arranged in a different order in the feed unit.
- the storage device can also consist of several partial storage devices. Such a multi-part storage device enables a filled sub-storage device to be exchanged for a new sub-storage device during the ongoing process, since during the Change process another partial storage device is available for storing the scanned slides.
- At least one industrial robot is understood to mean one or more programmable machines which alone or together can carry out at least method steps b) to e). If there is only one industrial robot, it must be able to carry out at least method steps b) to e), for which purpose it preferably comprises a robot arm, a control device and a gripper. It is also provided according to the invention that there is more than one industrial robot that can carry out at least method steps b) to e). In a preferred embodiment of the invention, only a single industrial robot is used.
- the at least one industrial robot is an articulated arm robot.
- the at least one industrial robot is preferably a 6-axis, a 7-axis or an 8-axis articulated arm robot.
- the articulated arm robot preferably has a gripper for gripping the slide.
- a slide is preferably placed in a slide scanner by the articulated arm robot, which removes the slide from a slide holder.
- the slide scanners are arranged so that the industrial robot can load and unload each slide scanner.
- the slide scanners can be arranged in one plane. It is also possible, in particular when using a 7- or 8-axis articulated arm robot, for the specimen slide scanners to be arranged next to one another as well as one above the other, so that a wall of specimen slide scanners is formed. Several walls of specimen slide scanners can also be arranged around the industrial robot.
- the method according to the invention comprises at least the steps
- Steps b) to e) are carried out by means of the at least one industrial robot.
- steps a) to e) are carried out in the specified order.
- steps b) and c) are repeated before steps d) and e) are carried out until each slide scanner is loaded with a slide.
- Process steps b) to e) are preferably repeated until all slides have been removed from the at least one slide holder and / or until the storage device is completely filled.
- the invention provides that method step a) is carried out again at the same time as one of method steps b) to e).
- the method according to the invention thus provides for the further loading of the feed unit with specimen slide holders while the method is running.
- the method comprises the step
- the slide scanner can thus transmit the information that the scanning process has been completed, so that the Slide can be removed from the scanner.
- the information from the specimen slide scanners can be passed on to the at least one industrial robot via a control device.
- the control device can also be designed as part of the industrial robot itself.
- the industrial robot after the slide has been removed from one of the slide scanners and the slide is deposited in the storage device, the industrial robot immediately removes a slide from the at least one slide holder and places this slide in the slide scanner that was not loaded or was emptied last, regardless of whether another slide scanner has transmitted the information that the scanning process has been completed. In this way, the downtime of the slide scanner is reduced.
- the specimen slide scanners each have a rotatable receptacle for specimen slides.
- the receptacle is particularly preferably designed as a turntable which rotates 90 ° around a vertical axis for loading.
- specimen slide scanners have a receptacle for specimen slides, in which the specimen slides are to be inserted laterally, from a frontal view of the specimen slide scanner.
- the slide holder is rotated for loading so that the slide can be inserted frontally into the holder.
- the object of the invention is also to provide a device for scanning specimen slides which overcomes the disadvantages known from the prior art. The object of the invention can thus be seen, inter alia, in providing a device with which the method according to the invention can be carried out.
- a device for scanning specimen slides comprising A) at least one feed unit which is designed to receive specimen slide holders loaded with specimen slides,
- the device is thus designed to carry out the method according to the invention.
- the device thus enables the method to be carried out independently, continuously and without manual intervention.
- the at least one industrial robot of the device according to the invention can carry out the method steps according to the invention, in particular steps b) to g).
- it can be an industrial robot, preferably in the form of an articulated arm robot, or a plurality of industrial robots which, as a whole, can carry out all process steps.
- the device preferably comprises only a single industrial robot, preferably a single articulated arm robot, for transporting the specimen slides from the feed unit to a specimen slide scanner and from one
- the at least one feed unit has a base plate and an end wall, the base plate preferably representing an inclined plane with a deep and a high end, the end wall preferably being arranged at the deep end of the base plate, the deep end
- the end of the base plate preferably has a hold-down device.
- the device components A) to D) are preferably arranged on a base frame.
- the description of the device according to the invention and the method according to the invention are to be provided as complementary to one another, so that process information that is explained in connection with the device is also to be understood individually or in combination as process information.
- Process information that is explained in connection with the device is also to be understood individually or in combination as process information.
- Features of the device that are explained in connection with the method according to the invention are to be understood individually or combined with one another as features of the device according to the invention. The invention is explained again below with reference to the figure.
- Fig. 1 shows a schematic representation of the device according to the invention.
- FIG. 1 shows a device 1 for scanning specimen slides comprising a base frame 2 on which a feed unit 3, five specimen slide scanners 4, 5, 6, 7, 8, an industrial robot 9 and a storage device 12 are arranged.
- the feed unit 3 forms a type of slide for the specimen slide holders so that the specimen slide holders slide in the form of a sloping plane as far as the lower end wall after they have been placed on the base plate.
- the industrial robot 9 is a 6-axis articulated robot with a gripper 10 that holds the slide 11.
- the specimen slide 11 was removed from the specimen slide holder arranged in the feed unit 3 by means of the gripper 10 and is inserted into the as yet unloaded specimen slide scanner 4, which then carries out the scanning process. Further specimen slides can then be removed from the feed unit 3 and placed in the specimen slide scanners 5, 6, 7, 8 that are not yet occupied. This process can be repeated until all the slide scanners 4, 5, 6, 7, 8 are occupied.
- the gripper 10 removes the specimen slide from the corresponding specimen slide scanner and places it in the storage device 12 from. Now the empty slide scanner can be loaded again with a slide to be scanned.
Landscapes
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Immunology (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- Sampling And Sample Adjustment (AREA)
- Microscoopes, Condenser (AREA)
- Manipulator (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019109962.5A DE102019109962A1 (de) | 2019-04-15 | 2019-04-15 | Verfahren und Vorrichtung zum Scannen von Objektträgern |
PCT/DE2020/100283 WO2020211901A1 (de) | 2019-04-15 | 2020-04-07 | Verfahren und vorrichtung zum scannen von objektträgern |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3956671A1 true EP3956671A1 (de) | 2022-02-23 |
Family
ID=70390720
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20720736.6A Pending EP3956671A1 (de) | 2019-04-15 | 2020-04-07 | Verfahren und vorrichtung zum scannen von objektträgern |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220187329A1 (de) |
EP (1) | EP3956671A1 (de) |
JP (1) | JP7522762B2 (de) |
CN (1) | CN113692538A (de) |
DE (1) | DE102019109962A1 (de) |
WO (1) | WO2020211901A1 (de) |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4159875A (en) * | 1976-10-21 | 1979-07-03 | Abbott Laboratories | Specimen holder |
JPS6030707Y2 (ja) * | 1980-07-16 | 1985-09-13 | 三洋電機株式会社 | 棚装置 |
US4965725B1 (en) * | 1988-04-08 | 1996-05-07 | Neuromedical Systems Inc | Neural network based automated cytological specimen classification system and method |
US5367401A (en) * | 1990-11-23 | 1994-11-22 | Perceptive Scientific Instruments, Inc. | Microscope slide rotary stage |
SE504643C2 (sv) | 1995-07-12 | 1997-03-24 | Asea Atom Ab | Bränslepatron för en kokarvattenreaktor där bränslestavarna är försedda med ett plenumrör som omsluter ett fissionsgasplenum |
AUPR376101A0 (en) * | 2001-03-15 | 2001-04-12 | Vision Biosystems Limited | Slide holder for an automated slide loader |
EP1494808B1 (de) * | 2002-04-15 | 2013-07-03 | Ventana Medical Systems, Inc. | Automatisiertes objektträgeranfärbesystem mit hohem durchsatz |
HUP0301911A2 (hu) | 2003-06-24 | 2005-03-29 | 3Dhistech Kft. | Tárgylemezadagoló-egység automatikus szkennelő mikroszkóphoz |
DE102009015596A1 (de) | 2009-03-30 | 2010-10-21 | Dcs Innovative Diagnostik-Systeme Dr. Christian Sartori Gmbh & Co. Kg | Verfahren und Vorrichtung zur Behandlung von trägerfixiertem Material |
EP2430457B1 (de) * | 2009-05-15 | 2019-11-20 | Biomerieux, Inc | Automatisierter lademechanismus für einen mikrobendetektor |
US8388891B2 (en) * | 2010-12-28 | 2013-03-05 | Sakura Finetek U.S.A., Inc. | Automated system and method of processing biological specimens |
JP2012177805A (ja) | 2011-02-25 | 2012-09-13 | Olympus Corp | 顕微鏡画像撮影装置 |
DE102013205001B3 (de) * | 2013-03-21 | 2014-05-28 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Anordnung und Verfahren zur multisensorischen Erfassung von Probenbereichen einer Probe |
US10007102B2 (en) * | 2013-12-23 | 2018-06-26 | Sakura Finetek U.S.A., Inc. | Microscope with slide clamping assembly |
US11280803B2 (en) * | 2016-11-22 | 2022-03-22 | Sakura Finetek U.S.A., Inc. | Slide management system |
DE102020116138A1 (de) * | 2020-06-18 | 2021-12-23 | Jürgen Deuster | Verfahren und Vorrichtung zum Scannen von Objektträgern unter Verwendung mindestens zweier Objektträgerscanner |
-
2019
- 2019-04-15 DE DE102019109962.5A patent/DE102019109962A1/de active Pending
-
2020
- 2020-04-07 WO PCT/DE2020/100283 patent/WO2020211901A1/de unknown
- 2020-04-07 EP EP20720736.6A patent/EP3956671A1/de active Pending
- 2020-04-07 US US17/602,312 patent/US20220187329A1/en active Pending
- 2020-04-07 CN CN202080029148.1A patent/CN113692538A/zh active Pending
- 2020-04-07 JP JP2021561680A patent/JP7522762B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
DE102019109962A1 (de) | 2020-10-15 |
WO2020211901A1 (de) | 2020-10-22 |
JP7522762B2 (ja) | 2024-07-25 |
CN113692538A (zh) | 2021-11-23 |
JP2022530350A (ja) | 2022-06-29 |
US20220187329A1 (en) | 2022-06-16 |
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