Transparent Slide Detection and Gripper Design for Slide Transport by Robotic Arm

Transparent slide detection, pick and place automation are obtained in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automatic, precise, robust solution has been developed by robotic arm using computer vision...

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Bibliographic Details
Main Authors: Kucarov, Marianna Dimitrova, Takacs, Matyas, Molnar, Bela, Kozlovszky, Miklos
Format: Conference Proceeding
Language:English
Subjects:
3D position
Automation
Computer vision
Detection
Digital Pathology
Image processing
Pathology
Process control
Reliability theory
Robot
Robot kinematics
Three-dimensional displays
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Summary:Transparent slide detection, pick and place automation are obtained in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automatic, precise, robust solution has been developed by robotic arm using computer vision and image processing techniques. Magazine (slide holder) and gripper design, camera selection and mapping to robot base coordinate system are all guided. Python based software algorithms for slide detection and 3D position determination applied in dynamically changeable environment are also explained step by step. Complete automatic process control method is implemented and tested for different types of slide.
ISSN:2471-9269
DOI:10.1109/CINTI-MACRo57952.2022.10029444