The aim of this thesis is to build a system which would replace time-consuming and thus expensive manual labour of sorting microscope slides and tissue blocks, for the needs of Institute of pathology Ljubljana. We will build our system with the use of an industrial robot, QR code reader, vacuum and pnemaumatic gripper.
The introductory chapter presents reasons for the decision of automatic sorting, current development in this area and goals of this thesis.
The second chapter describes a microscope slide and manual sorting of the slides, which employees encounter on a daily basis. Then the tissue block and its manual sorting is presented. The intention is to familiarize the reader with the problem at hand.
In the third chapter the design concept of the project is introduced. Following is the description of hardware that was used in this project. At the end of the chapter the software for controlling the robot and basic commands are listed.
The fourth chapter is crucial, it contains planning and assembly of our system. At the beginning, description of hardware and procedures mutual to both objects of manipulation are provided. Following is a description of the microscope slide gripper assembly and the explanation of tissue block gripper assembly.
In the fifth chapter the functioning of our system is demonstrated through the presentation of the software code. At the end the results are given, which were achieved by reading QR code labels.
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