Development Of Exfoliated Cell Digital Slice Scanner Control System

In the screening and diagnosis of cancer,compared with the traditional glass slices,using digital slices to detect exfoliated cells have prominent advantages,which can make up for the shortcomings and limitations of glass slices.In this paper,a digital slices scanner control system for exfoliated cells was developed,which can realize batch,process and full-field scanning of exfoliated cell glass slices and make digital slices.Based on the scanner mechanical structure composed of stepper motor,the overall control system architecture of "PC + motion controller + bus micro stepper motor driver" was designed.The scanner digital slice making process composed of 8action processes and the motor motion sequence in each action process were developed.The communication application layer protocol of the CAN bus and RS485 bus inside the scanner control system were designed.The hardware circuit diagram of motion controller and bus micro stepper motor driver with STM32 series processor as the main control chip were designed,mainly including the minimum system circuit,the power supply circuit,the sensor receiving circuit,the precision stepper motor control signal circuit,the non-precision motor drive circuit and the bus communication circuit,etc.The PCB drawing and device welding were completed.The software program of motion controller was developed.Based on HAL library,the encapsulation of motor motion function,the CAN bus communication configuration,the S-curve acceleration and deceleration open-loop control algorithm and the digital PID closed-loop motion control algorithm of precision stepper motor were designed.Based on the Free RTOS operating system,the functional tasks,the single-step motion tasks and the action process tasks were designed,the underlying definition of the scanner digital slice making process was realized.The software program of bus micro stepper motor driver was developed.The motion mode of the driver and SPTA acceleration and deceleration control algorithm of non-precisionstepper motor were designed.Based on the Microsoft Visual Stuio2010,the upper computer application software was developed,The control of industrial camera and motion controller was realized.The experimental test results show that the control system of the exfoliated cell digital slice scanner developed in this paper has a reasonable architecture,stable digital slices making process,normal software and hardware operation,and good performance of various functions,which can achieve high-quality making of exfoliated cell digital slices.