Robot Instead of Laboratory Technicians - Slide Holder Detection and 3D Position Determination by Robotic Arm

摘要

Replacement of lab technicians is discussed in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automated, precise, robust solution has been developed for robotic arm using computer vision and image processing. Camera selection, calibration and mapping to robot base coordinate system are guided. Python based software scheme for slide holder (magazine) detection and 3D position determination of the detected magazine applied in dynamically changeable environment are also explained step by step. Architecture, network communication, used protocol among python program, robotic arm and robot controller are discussed. Complete automatic process control technique is implemented and tested for the robot.