# US 12,214,513 B1 · Apparatus and method for adaptive handling of slides using a robotic arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,513 B1 - Document ID: US12214513B1 - Status: Granted - Kind: B1 - Application number: 18/766,242 - Filed: 2024-07-08 - Granted: 2025-02-04 - Earliest claimed: 2024-07-08 - Assignees: Pramana, Inc. - Applicants: Pramana, Inc. - Inventors: Mohammad Abdul Sulaiman; Omkar Appasaheb Kabadagi; Vaishnavi K B; Rameesh Varshan; Nitesh Kumar - Web page: https://patentgrep.com/patent/US12214513B1 ## CPC - B25J 9/1697: {Vision controlled systems} - B25J 9/1628: {characterised by the control loop} - B25J 9/1692: {Calibration of manipulator} - B25J 13/084: {Tactile sensors (in general G01L5/16, G01L5/22)} - B25J 19/023: {including video camera means} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract An apparatus and method for adaptive handling of slides using a robot arm. The apparatus includes at least a computing device comprised of a processor and a memory communicatively connected to the processor. The memory instructs the processor to receive a calibration procedure, wherein the calibration procedure is generated using a plurality of waypoints. The processor controls the at least a robotic arm as a function of the calibration procedure, wherein the calibration procedure is configured to cause the robotic arm to pick, using a pick waypoint of the plurality of waypoints, and place, using a place waypoint of the plurality of waypoints, a slide. The processor receives a plurality of feedback from the at least a robotic arm. The processor generates, using the plurality of feedback, an adapted pick waypoint. The memory instructs the processor to generate, using the plurality of feedback, an adapted place waypoint. ## Claims ### Claim 1 An apparatus for adaptive handling of slides, wherein the apparatus comprises: at least a robotic arm, wherein the at least a robotic arm comprises at least an effector; at least an optical device; at least a computing device, wherein the computing device comprises: a memory; and at least a processor communicatively connected to the memory, wherein the memory contains instructions configuring the at least a processor to: receive a calibration procedure, wherein the calibration procedure is generated using a plurality of waypoints; control the at least a robotic arm as a function of the calibration procedure, wherein the calibration procedure is configured to cause the robotic arm to pick, using a pick waypoint of the plurality of waypoints, and place, using a place waypoint of the plurality of waypoints, a slide; receive a plurality of feedback from the at least a robotic arm; generate, using the plurality of feedback, an adapted pick waypoint; generate, using the plurality of feedback, an adapted place waypoint. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein generating the adapted pick waypoint comprises: interpolating, using calibrated Z values corresponding to each slide basket corner, a slide Z value as a function of a position of the slide relative to the slide basket corner; and modifying, using the interpolated slide Z value, the pick waypoint. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the plurality of feedback comprises a visual datum and a tactile datum. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the visual datum is generated using a macro image analysis of the at least an optical device, comprising: capturing, using the at least an optical device, an image processing, using an image processor, the image; and generating the visual datum. ### Claim 5 (depends on 3) The apparatus of claim 3, wherein the tactile datum is generated using the robotic arm and the at least an effector. ### Claim 6 (depends on 3) The apparatus of claim 3, wherein generating the adapted pick waypoint further comprises: locating, using the tactile datum and the calibration procedure, a slide position in a slide basket; and modifying, using the slide position, the pick waypoint. ### Claim 7 (depends on 3) The apparatus of claim 3, wherein the at least a processor is further configured to control the robotic arm as a function of a place sequence, wherein the place sequence comprises: determining, using the visual datum, a slide dimension and a slide pose of the slide; generating, using the slide pose, the adapted place waypoint; generating, using the slide dimension, the adapted place waypoint. ### Claim 8 (depends on 3) The apparatus of claim 3, wherein generating the adapted place waypoint comprises: determining, using the visual datum and a torque sensor, a slide pose and a slide tilt angle; modifying, using the slide tilt angle, the place waypoint to align slide edges parallel to a basket slot edge; and modifying, using the tactile datum, the waypoint to align a slide center to the center of the basket slot. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the robotic arm is configured to: receive a partial open configuration; execute, using the at least an effector, the partial open configuration; adjust, using a pusher mechanism, the slide; receive an open configuration; and execute, using the at least an effector, the open configuration. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the at least an effector comprises a gripper. ### Claim 11 A method for adaptive handling of slides, wherein the method comprises: receiving, by at least a processor, a calibration procedure, wherein the calibration procedure is generated using a plurality of waypoints; controlling, by the at least a processor, the at least a robotic arm as a function of the calibration procedure, wherein the calibration procedure is configured to cause the robotic arm to pick, using a pick waypoint of the plurality of waypoints, and place, using a place waypoint of the plurality of waypoints, a slide; receiving, by the at least a processor, a plurality of feedback from the at least a robotic arm; generating, by the at least a processor and using the plurality of feedback, an adapted pick waypoint; generating, by the at least a processor and using the plurality of feedback, an adapted place waypoint. ### Claim 12 (depends on 11) The method of claim 11, wherein generating the adapted pick waypoint comprises: interpolating, using calibrated Z values corresponding to each corner of a slide basket, a slide Z value as a function of a position of the slide relative to the slide basket corner; and modifying, using the interpolated slide Z value, the pick waypoint. ### Claim 13 (depends on 11) The method of claim 11, wherein the plurality of feedback comprises a visual datum and a tactile datum. ### Claim 14 (depends on 13) The method of claim 13, further comprising generating the visual datum using a macro image analysis of at least an optical device, comprising: capturing, using the at least an optical device, an image processing, using an image processor, the image; and generating the visual datum. ### Claim 15 (depends on 13) The method of claim 13, wherein the tactile datum is generated using the robotic arm and the at least an effector. ### Claim 16 (depends on 13) The method of claim 13, wherein generating the adapted pick waypoint further comprises: locating, using the tactile datum and the calibration procedure, a slide position in a slide basket; and modifying, using the slide position, the pick waypoint. ### Claim 17 (depends on 13) The method of claim 13, further comprising controlling, using the at least a processor, the robotic arm as a function of a place sequence, wherein the place sequence comprises: determining, using the visual datum, a slide dimension and a slide pose of the slide; generating, using the slide pose, the adapted place waypoint; generating, using the slide dimension, the adapted place waypoint. ### Claim 18 (depends on 13) The method of claim 13, wherein generating the adapted place waypoint comprises: determining, using the visual datum and a torque sensor, a slide pose and a slide tilt angle; modifying, using the slide tilt angle, the place waypoint to align slide edges parallel to a basket slot edge; and modifying, using the tactile datum, the waypoint to align a slide center to the center of the basket slot. ### Claim 19 (depends on 11) The method of claim 11, further comprising: receiving, by the robotic arm, a partial open configuration; executing, by the robotic arm and using the at least an effector, the partial open configuration; adjusting, by the robotic arm and using a pusher mechanism, the slide; receiving, by the robotic arm, an open configuration; and executing, by the robotic arm and using the at least an effector, the open configuration. ### Claim 20 (depends on 11) The method of claim 11, wherein the at least an effector comprises a gripper.