Patent Description:
An important tool in pathological research is the examination of tissue samples placed on microscope slides with an optical microscope. Digital pathology, which has become widespread in recent decades, is a method in which glass slides are digitized using a scanner and then the resulting digital images are analyzed using computer programs.

As is known, to make visible of certain tissue structures requires the staining of the sample, and the covering of the samples is also required to improve mechanical protection and optical properties before microscopic examination of the stained samples. Furthermore, before and during staining, the sample placed on the slide is treated according to a given protocol, in which the so-called reagents are used in several successive steps, so that specific detection of certain molecules is possible. Treatment with reagents must take into account the incubation time and other parameters required to use the particular reagent, resulting in a very complex workflow and many potential for error. In addition, some reagents are harmful to health, so several solutions have been developed to automate these workflows.

Patent document <CIT>, discloses an automated device, so-called autostainer which, in addition to staining samples on slides, is also suitable for dispensing various reagents. Document <CIT> also shows an autostainer in which slides are placed horizontally next to each other and on the surface of which a manipulator head placed on a robot arm drips the required reagent.

In addition to autostainers, separate machines for covering the sample are also known, which place a glass cover plate on the sample after applying the coating material. Such, the so-called coverslipper machines are disclosed, for example, in patent documents <CIT> or <CIT>.

There are also many examples in the literature of digital scanning microscopes - separate from staining and covering machines - for receiving and digitizing samples that have already been stained and covered.

The above devices are able to perform only some subtasks of the entire workflow of digital pathology, i.e., the steps of staining, covering, and digitization take place in different equipment. Slides containing the sample are usually transferred manually from one device to another with human intervention. In the machines, the slides are housed in slide holders, also known as slide racks, which allow multiple slides to be moved at the same time. In slide racks, however, ready-made slides wait until the rack is full. Thus, each piece of machine waits unused for a long time, and then it becomes necessary to process many slides at once. As a result, the various machines performing each function can become bottlenecks, which significantly prolongs the entire workflow. In addition, certain samples may tend to degrade in a shorter time. In these cases, it may be particularly important that the slide containing the sample be scanned in the shortest possible time.

It is therefore necessary to provide a slide moving apparatus by means of which the slide in the rack can be removed from the rack, moved therefrom and, if appropriate, inserted into another rack, or by means of which the slide can be transferred to another device.

In slide racks typically used in digital pathology, slides are stacked on top of each other. In a first type of such racks (hereinafter referred to as a longitudinal rack), the slides are in contact with the rack along their longer edge and can be removed from there in a direction parallel to the longer edge. In this type, the ends of slides that do not contain a sample protrude slightly from the rack, and the slide can be moved by grasping this free end. <CIT> discloses a digital microscope scanner system using this type of rack. The protruding end of the slides is gripped along the long edges on both sides using a robotic arm tweezers. The disadvantage of this solution is that it does not ensure a stable fixation of the slide, so that the slide can rotate in directions perpendicular to its surface.

In a known and frequently used second type of rack (hereinafter: transverse rack), slides can be removed from the rack in a direction parallel to their shorter edges. Such racks are used, for example, by Thermo Fisher's ClearVue™ machine. In this apparatus, a slide is pushed out of the rack in a direction parallel to its shorter side edges, in contact with its longer side edge, so that it is held against the other longer side edge of the slide by another arm. The sample is prepared in this position, at the end of which the slide is pushed back into the rack by the arms. It is easy to see that this mechanism is not suitable for removing the slide at any distance from the rack, as the pushing lever is trapped between the slides. Known slide handling devices are also not suitable for removing slides from such racks or moving slides therefrom. For example, the clip mechanism described in patent document <CIT> cannot grip the slides in the absence of protruding parts. Mechanisms that grip the slide at the bottom and top surfaces are also not applicable to this type of rack, as when removed from the rack, the slide can easily rotate about an axis perpendicular to its surface, which can lead to positioning inaccuracies and errors in the workflow.

A further document disclosing an apparaturs for moving a mirocsope slide is <CIT>.

We have recongized that there is currently no slide moving apparatus that can remove slides stored in transverse racks from there and move them in any direction.

We have also recognized that state of the art slide moving devices are not suitable for stable gripping of slides, so that the slide can rotate in a direction perpendicular to its surface in the case of a clip mechanism and around an axis perpendicular to the slide surface in the case of a mechanism that grips the slide at the bottom and top surfaces, which can result in positioning inaccuracies during the workflow. A further disadvantage of the known slide moving devices is that they are not able to transfer the slide to another slide moving device, since each currently known moving device grips the same free end of the slide protruding from the longitudinal rack.

We have also recognized that in the transverse racks there are gaps of a few mm between the adjacent slides, through which a properly designed first clamping unit can be inserted, by means of which the opposite long side edge of the slide can be grasped and the slide pulled out of the rack. It is further recognized that by providing a second clamping unit opposite the first clamping unit, the drawn slide can be stably secured between the clamping units and removed from the rack in any direction and distance. It is also part of our recognition that by forming the clamping units as prismatic jaws, an exceptionally stable and self-positioning fixation of the slide can be achieved. By the proper arrangement of the clamping units, a substantially <NUM>-point mount can be created.

It is an object of the present invention to provide an apparatus which is free from the disadvantages of the prior art. In particular, it is an object of the present invention to provide a slide moving apparatus by means of which the slide can be removed from and moved from the transverse rack while ensuring a stable grip of the slide.

The present invention relates to an apparatus which can be mounted on a robot arm and whose clamping units are formed as prismatic jaws, the first clamping unit is fixed to the end of a support rod rotatable about a longitudinal axis, and which support rod is displaceable along its longitudinal axis.

According to the invention, this object is achieved by an apparatus according to claim <NUM>.

Further details of the invention will be described with reference to the accompanying drawings. In the drawing.

<FIG> shows a schematic perspective view of an exemplary embodiment of an apparatus <NUM> according to the invention. The apparatus <NUM> is for moving a microscope slide <NUM>. In the context of the present invention, the term "moving" includes removing the slide <NUM> from a rack <NUM>, moving it away from the rack <NUM>, or inserting the slide <NUM> into another or the same rack <NUM>. It is further noted that the rack <NUM> is the transverse slide rack already described above, an exemplary embodiment of which is shown in <FIG>. The slide <NUM> is an elongate flat columnar plate, preferably made of glass, commonly used in digital pathology, bounded on the side by opposite and parallel short edges 100a and long edges 100b, as well as lower and upper surfaces.

The apparatus <NUM> according to the invention can be mounted on a robot arm <NUM>. <FIG> show an exemplary embodiment of the apparatus <NUM> in a state mounted on a robot arm <NUM>. Note that for the sake of clarity, only a part of the robot arm <NUM>, in this case its manipulator head, is shown in the figures. In the context of the present invention, the term robot arm <NUM> is to be construed broadly to include any mechanical system that is capable of moving in a predetermined path in a predetermined manner and performing tasks along the path, as is known to those skilled in the art. The robot arm <NUM> is selected to be suitable for carrying the apparatus <NUM>. The apparatus <NUM> can be attached to the robot arm <NUM> in a known manner, for example by means of screwing.

The apparatus <NUM> has a first clamping unit <NUM> and a second clamping unit <NUM> arranged opposite thereto, which are formed as prismatic jaws with V-shaped, i.e. angled legs. The angle enclosed by the legs of the prismatic jaws is preferably <NUM> degrees, but it is also possible to use different angles, which are customary for prismatic jaws, as will be apparent to those skilled in the art. The prismatic jaws are sized so that their legs can engage long edges 100b of the slide <NUM>. The prismatic jaws of the clamping units <NUM>, <NUM> are preferably made of a wear resistant hard metal, such as tungsten carbide, but, of course, the use of other metals or metal alloys (e.g. steel) is also conceivable, as will be apparent to those skilled in the art. In the embodiments shown in <FIG>, the legs of a given prismatic jaw meet a straight edge, i.e. the legs of the clamping unit <NUM> define a first prism edge <NUM> and the legs of the clamping unit <NUM> define a second prism edge <NUM>. The prism edges <NUM>, <NUM> are straight lines. It is noted that the prismatic jaws of the clamping units <NUM>, <NUM> may optionally be formed so that the legs of the prismatic jaws do not actually meet (no such embodiment is shown in the figures), as is known to those skilled in the art. In this case, the prism edges <NUM>, <NUM> are interpreted as an imaginary intersection line of the angled legs of the respective prism jaws.

In a particularly preferred embodiment, the second clamping unit <NUM> is wider than the first clamping unit <NUM>, i.e. the prism edge <NUM> of the second clamping unit <NUM> is longer than the prism edge <NUM> of the first clamping unit <NUM>. The clamping unit <NUM> is formed in such a way that the length of the prism edge <NUM> is smaller than the distance H between the adjacent slides <NUM> in the rack <NUM>, i.e. so that the clamping unit <NUM> passes between the slides <NUM>. The prism edge <NUM> of the first clamping <NUM> unit is preferably <NUM>-<NUM>, the prism edge <NUM> of the second clamping unit <NUM> is preferably <NUM>-<NUM>.

According to the claimed invention shown in <FIG>, the second clamping unit <NUM> comprises separate first and second clamping parts 14a, 14b, each of which is formed as a prismatic jaw with V-shaped legs. It is noted that the clamping unit <NUM> may be a single monolithic unit (not shown in the figures), but if the clamping unit <NUM> is made of hard metal, - due to the later detailed design of the device <NUM> - it is more expedient to make it from two parts from a manufacturing point of view. <FIG>, <FIG> show that the legs of the V-shaped prism jaws of the clamping portions 14a, 14b meet along a straight edge and define prism edge portions 16a, 16b, respectively. The length of the prism edge portions 16a, 16b is preferably at least <NUM>. Of course, the prismatic jaws of the clamping portions 14a, 14b can also formed in such a way that the legs of the prismatic jaws do not actually intersect (not shown in the figures). The prism edge portions 16a, 16b are then formed by the imaginary intersection lines of the angles of the respective prismatic jaws. If the clamping unit <NUM> is formed by separate first and second clamping portions 14a, 14b, the length of the prism edge <NUM> of the second clamping unit <NUM> is interpreted as the distance between the farthest points of the prism edge portions 16a, 16b of the two clamping portions 14a, 14b, i.e. as the distance between the distal ends of the prism edge portions 16a, 16b.

The first clamping unit <NUM> of the device <NUM> according to the invention is fixed to a first end <NUM> of a support rod <NUM> rotatable about a longitudinal axis T between a first position and a different second position, as can be seen, for example, in <FIG>, <FIG>. The support rod <NUM> is rigid in design and is preferably also made of a hard metal such as tungsten carbide. The support rod <NUM> is preferably of circular cross-section, the diameter of which is preferably not greater than the length of the first prism edge <NUM>. In the first position of the support rod <NUM>, the prismatic jaws of the clamping units <NUM>, <NUM> face each other, so that no torque is exerted to the clamped slide <NUM>. In the first position, the prism edges <NUM>, <NUM> of each prismatic jaw are straight lines parallel to each other in a plane parallel to the longitudinal axis T of the support rod <NUM>. In other words, the imaginary surface connecting the prism edges <NUM>, <NUM> is a plane parallel to the longitudinal axis T. The longitudinal axis T is preferably perpendicular to the prism edges <NUM>, <NUM>. When the device <NUM> is in use, the prism edge <NUM> of the clamping unit <NUM> in the first position is horizontal.

In the particularly preferred embodiment shown in <FIG>, the second position of the support rod <NUM> is rotated <NUM> degrees relative to the first position (<FIG>), i.e. the orientations of the first clamping unit <NUM> in the first and second positions are perpendicular to each other. There may be an angular difference of less than <NUM> degrees between the first and second positions. The width of the clamping unit <NUM>, i.e. the length of the prism edge <NUM> and the second position, must be chosen so that the clamping unit <NUM> fits between two adjacent slides <NUM> one above the other in the rack <NUM>.

The embodiment of the apparatus <NUM> shown in <FIG> comprises a rigid frame <NUM>, preferably made of metal, by means of which the apparatus <NUM> can be attached to the robot arm <NUM>. The frame <NUM> may be formed from a single piece or, optionally, from several pieces. In the embodiment according to <FIG> the clamping unit <NUM> and its clamping portions 14a, 14b are fixed to the frame <NUM> and the support rod <NUM> is passed through a hole <NUM> in the frame <NUM>. The arrangement of the hole <NUM> can be seen in <FIG>. In this embodiment, the support rod <NUM> is passed between the clamping parts 14a, 14b and passes through the hole <NUM>, thereby guiding the support rod <NUM> and designating the direction of the longitudinal axis T. As previously mentioned, it is expedient to form the clamping unit <NUM> from clamping parts 14a, 14b, so that it is not necessary to drill a hole through the clamping unit <NUM> itself, which is particularly advantageous from a technical point of view when using hard metal.

The support rod <NUM> according to the invention is adapted to move along its longitudinal axis T in a first direction P in which the first clamping unit <NUM> approaches towards the second clamping unit <NUM> and in a second direction D in which the first clamping unit <NUM> moves away from the second clamping unit. In a particularly preferred embodiment, the apparatus <NUM> comprises one or more resilient elements <NUM>, preferably one or more spring members, for moving the support rod <NUM> in the first direction P. The one or more resilient elements <NUM> exert a force in the P direction on the support rod <NUM>, the magnitude of which can be adjusted to the desired value by appropriate design of the resilient element <NUM>. In this way, the clamping units <NUM>, <NUM> grip the slide <NUM> with a constant and optimal force. The embodiment shown in <FIG> comprises three resilient elements <NUM> in the form of coil springs, one end of which is attached to the frame <NUM> and the other end to a rigid guided frame <NUM>. As will be seen later, the frame <NUM> is indirectly connected to a second end <NUM> opposite the first end <NUM> of the support rod <NUM>, so that the resilient elements <NUM> can indirectly exert a force on the support rod <NUM>. The frame <NUM> has been removed from <FIG> and <FIG> so that the arrangement of the coil springs can be well observed. Note that instead of coil springs, other elements, e.g. rubber disk, rubber band, elastic sponge, etc. can also be used as a resilient element <NUM>, as will be apparent to those skilled in the art.

The apparatus <NUM> according to the invention comprises a displacer <NUM> for displacing the support rod <NUM> along the longitudinal axis T and a rotator <NUM> for rotating the support rod <NUM> about the longitudinal axis T. In a preferred embodiment shown in <FIG> the rotator <NUM> is a motor fixed to the second end <NUM> of the support rod <NUM>, adapted to rotate the support rod <NUM> at a predetermined angle and to hold it at that angle. Such a motor can be, for example, an electric stepper motor known per se, a DC servomotor, etc., as is known to the person skilled in the art. In this embodiment, the rotator <NUM> is attached to the frame <NUM>, so that the frame <NUM>, the rotator <NUM> and the support rod <NUM> connected thereto form a co-moving system which is resiliently connected to the frame <NUM> via resilient elements <NUM> formed as spring members.

The displacer <NUM> can be any means suitable for linear movement, for example a rail moving device guided by a rail track. The transmission can be, for example, a rack, spindle, or belt drive, as will be apparent to those skilled in the art. In the preferred embodiment shown in <FIG>, the device <NUM> is attached to the robot arm <NUM> and the displacer <NUM> is provided as part of the robot arm <NUM>. As shown in <FIG>, one of a tweezers <NUM> of the robot arm <NUM> is arranged immediately adjacent the frame <NUM> so that the frame <NUM> is pressed against the tweezers <NUM> by the resilient elements <NUM>. The tweezers <NUM> are able to move along a rail system parallel to the longitudinal axis T, so when the tweezers <NUM> are opened, they push the frame <NUM> in the D direction, with which the support rod <NUM> moves along the longitudinal axis T in the D direction as well, thus increasing the distance between the clamping units <NUM>,<NUM> (see <FIG>).

In a preferred embodiment, the apparatus <NUM> includes a central control unit (not shown in the Figures) for controlling the displacer <NUM> and the rotator <NUM>, by means of which the position of the support rod <NUM> along the longitudinal axis T and the position of the support rod <NUM> about the longitudinal axis T can be adjusted to the desired value.

In the following, with reference to <FIG>, an exemplary operation of the apparatus <NUM> of the present invention is briefly illustrated, in which the slide <NUM> is removed from the rack <NUM>. In a first step, the apparatus <NUM> is moved next to the rack <NUM> - for example, using the <NUM> robot arms shown above - so that the longitudinal axis T of the support rod <NUM> being parallel to the short edges 100a of the slide <NUM> and so that the slide <NUM> being located in the imaginary plane connecting the prism edges <NUM>, <NUM> or slightly above it (see <FIG>). Thereafter, the support rod <NUM> is rotated about the longitudinal axis T by the rotator <NUM> to the second position shown in <FIG>, and the clamping unit <NUM> is passed between the slides <NUM> in the rack <NUM> below the slide <NUM> to be moved (<FIG> and <FIG>). Note that the clamping unit <NUM> may be rotated to the second position in advanced. The support rod <NUM> is pushed in the D direction until the clamping unit <NUM> extends beyond the opposite long edge 100b of the slide <NUM> (see <FIG>). The support rod <NUM> is secured in this position by the displacer <NUM> and then rotated into the first position by the rotator <NUM> (see <FIG>). Than, the locking of the longitudinal axis T is released and the resilient elements <NUM> are allowed to move the support rod <NUM> and the clamping unit <NUM> in the P direction. The long edge 100b of the slide <NUM> abuts between the prismatic jaws of the clamping unit <NUM> so that the slide <NUM> is pulled by the clamping unit <NUM> in the P direction (see <FIG> and <FIG>). Note that the displacer <NUM> may optionally brake the movement in the P direction to avoid damaging the fragile slide <NUM>. In the case of embodiments without a resilient element <NUM>, the movement in the P direction is performed by the displacer <NUM>. The movement of the clamping unit <NUM> in the P direction lasts until the other long edge 100b of the slide <NUM> abuts between the prismatic jaws of the clamping unit <NUM>, after which the slide <NUM> can be moved together with the apparatus <NUM> to the desired position (see <FIG>). In this position, a stable fixation of the slide <NUM> is ensured and the prismatic jaws automatically rotate the plane of the slide <NUM> into the plane connecting the prism edges <NUM>, <NUM>. This enables the precise transfer of the slides <NUM> and thus the efficient automation of the digitization workflow.

The resilient elements <NUM> approach the clamping units <NUM>, <NUM> toward each other with a force of a certain magnitude, so as to ensure that the slide <NUM> is always fixed with the same force. It would have been obvious to the person skilled in the art to determine the magnitude of the force acting on the slide <NUM>. In addition to the simple design, a further advantage of the resilient elements <NUM> is that the slide <NUM> can be removed in the event of a power failure by tensioning the clamping units <NUM>, <NUM>.

Claim 1:
Apparatus (<NUM>) for moving a microscope slide (<NUM>), the apparatus (<NUM>) comprises a support rod (<NUM>) and having a first clamping unit (<NUM>) and a second clamping unit (<NUM>) arranged opposite thereto, the apparatus (<NUM>) being mountable on a robot arm (<NUM>), the clamping units (<NUM>, <NUM>) are formed as prismatic jaws with V-shaped legs and the first clamping unit (<NUM>) is fixed to a first end (<NUM>) of the support rod (<NUM>) rotatable about a longitudinal axis (T) between a first position and a second position in such a way that in the first position of the support rod (<NUM>) the prismatic jaws of the clamping units (<NUM>, <NUM>) face each other so that prism edges (<NUM>, <NUM>) of the prismatic jaws defined by the intersection of the V-shaped legs of each prismatic jaw are parallel lines, which are in a plane parallel to the longitudinal axis (T) of the support rod (<NUM>) and which support rod (<NUM>) is adapted to move along its longitudinal axis (T) in a first direction (P) in which the first clamping unit (<NUM>) is moved towards the second clamping unit (<NUM>) and in a second direction (D) in which the first clamping unit (<NUM>) is moved away from the second clamping unit (<NUM>), and said apparatus (<NUM>) comprises a displacer (<NUM>) for displacing the support rod (<NUM>) along the longitudinal axis (T) and a rotator (<NUM>) for rotating the support rod (<NUM>) about the longitudinal axis (T), wherein the second clamping unit (<NUM>) comprises two separate clamping portions (14a, 14b), each of which is a prismatic jaw with V-shaped legs and the support rod (<NUM>) is passed between the clamping portions (14a, 14b).