Mapping Manual Laboratory Tasks to Robot Movements in Digital Pathology Workflow

This study evaluated and integrated automatic pathology equipment and a collaborative robot to create a fully autonomous workflow. We selected the Gemini AS Automated Slide Stainer, ClearVue Coverslipper, and Pannoramic 1000 digital slide scanner, controlled by a UR5e robotic arm. To perform essential clinical laboratory tasks, we determined that the robotic arm, in combination with a custom manipulator, requires 9 degrees of freedom-5 from the robot and 4 from the manufactured manipulator. The patented manipulator is equipped with a camera, LED lighting, and three specialized grippers for object detection and precise handling of equipment doors, magazines, and slides. It is designed to mount onto a standardized robot flange interface (ISO 9409-1-50-4-M6), making it mechanically compatible with various robot arms. A minimum of 24 distinct laboratory tasks were defined for the training of the robotic arm. This autonomous workflow mitigates labor shortages and accelerates diagnostic processes by offloading repetitive tasks, thereby improving efficiency in pathology laboratories.