Automation of biopsy specimen handling

Abstract

The current disclosure is directed to the field of pathology, and the automated handling of biological specimens from containers containing clear solutions wherein the biological specimens reside. A computer-implemented method is disclosed for extracting specimens from such containers via an extraction device attached to a robotic arm. The robotic arm is controlled by a robotic system controller. The three-dimensional location of all specimens are estimated using image analysis techniques using images obtained from a plurality of imaging systems. Image analysis is used to simultaneously guide the extraction device and track the location of specimens inside the container.

What is claimed is: 
     
         1 . A method for automatically extracting biological specimens from a container, comprising:
 (i) obtaining one or more intrinsic and extrinsic properties of a first imaging system and a second imaging system,   (ii) periodically imaging the container using the first imaging system and the second imaging system,   (iii) simultaneously guiding an extraction device and tracking a target biological specimen from a plurality of biological specimens in the container using a plurality of images obtained from the first imaging system and the second imaging system, and   (iv) extracting the target biological specimen from the container using the extraction device,   
       wherein the container contains a transparent liquid, 
       wherein the target biological specimen resides in the liquid in the container, 
       wherein the extraction device is attached to a robotic arm, 
       wherein the robotic arm is communicatively coupled to a processing unit, wherein the first and second imaging system are communicatively coupled to the processing unit, and 
       wherein the first and second imaging systems are spatially separated, and 
       wherein the first and second imaging systems image the container simultaneously and at a pre-determined frame rate, and 
       wherein the target biological specimen is selected from the plurality of biological specimens.