Diseño y construcción de un sistema de microscopia robotizada para patología virtual

Abstract

This work presents the design and construction of a robotic system for the Nikon eclipse e200 microscope, with which the movements of the object slide are remotely controlled, and digital images of a histological plate are captured. For this purpose, the system consists of two stages: a mechatronic and a visual-optical, respectively. The mechatronic stage is made up of a positioning control system for the microscope object-holder stage in the XYZ axes, which are controlled with motors through an embedded system together with a driver module for each axis, respectively. The visual-optical stage allows the acquisition, capture and visualization of the histological sample contained in a slide. The acquisition is achieved by coupling a highresolution digital camera (6.3-megapixel resolution) to the microscope, which captures images in the form of frames (tills) to build the complete image known as WSI (Whole Slide Image). Finally, the visualization of the images is presented on a viewer implemented in a web service through a Client-Server architecture. The tests and evaluation of the mechatronic stage, as well as the visualization stage, determined the effectiveness of the integrated system, which can be implemented as a low-cost resource for virtual microcopy applications.