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

Abstract

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.