Abstract: A method accurately positions a robotic manipulator at a target position of a target object in an automated sample handling device. An optical reference object is detectable by imaging located at a first position at a worksurface and a capacitive reference object is located at a second position at the worksurface. A position of the robotic manipulator relative to the second position is detectable by measurements of the electrical impedance/capacitance between the capacitive reference object and the robotic manipulator acting as a measuring probe. An image is then taken of the first reference object together with the target object to determine the target position and a current position of the robotic manipulator is determined based on electrical impedance/capacitance measurements taken at different locations of the capacitive reference object. The robotic manipulator is then moved from the determined current position to the determined target position.

Abstract: Some embodiments are directed to completing incomplete area of interest markings. An area of interest marking indicates an area of interest on an image of a tissue section. The method may include detecting in the image endpoints of the one or more contours, and drawing in the image a segment connecting the matching endpoints in a selected pair.

Abstract: Some embodiments are directed to planning treatment of an area of interest on a tissue section with a motorized treatment tip. The planning may include computing for each pixel in the area of interest a distance to the nearest pixel in the tissue section outside the area of interest or in the background, and selecting a position for a treatment area from the result of the distance transform.