CA2811344A1 - Device for detecting gestation - Google Patents
Device for detecting gestation Download PDFInfo
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- CA2811344A1 CA2811344A1 CA2811344A CA2811344A CA2811344A1 CA 2811344 A1 CA2811344 A1 CA 2811344A1 CA 2811344 A CA2811344 A CA 2811344A CA 2811344 A CA2811344 A CA 2811344A CA 2811344 A1 CA2811344 A1 CA 2811344A1
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- 230000035935 pregnancy Effects 0.000 title claims abstract description 27
- 241001465754 Metazoa Species 0.000 claims abstract description 121
- 230000004308 accommodation Effects 0.000 claims abstract description 53
- 238000011157 data evaluation Methods 0.000 claims abstract description 5
- 238000002604 ultrasonography Methods 0.000 claims description 107
- 244000144972 livestock Species 0.000 claims description 80
- 230000008878 coupling Effects 0.000 claims description 23
- 238000010168 coupling process Methods 0.000 claims description 23
- 238000005859 coupling reaction Methods 0.000 claims description 23
- 238000012360 testing method Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 13
- 238000009736 wetting Methods 0.000 claims description 11
- 238000010191 image analysis Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 235000011837 pasties Nutrition 0.000 claims description 2
- 230000011664 signaling Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 6
- 230000018109 developmental process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 4
- 238000009597 pregnancy test Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001454 recorded image Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000003975 animal breeding Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000002257 embryonic structure Anatomy 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- -1 llowing Species 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000004291 uterus Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0866—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving foetal diagnosis; pre-natal or peri-natal diagnosis of the baby
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D17/00—Devices for indicating trouble during labour of animals ; Methods or instruments for detecting pregnancy-related states of animals
- A61D17/006—Devices for indicating trouble during labour of animals ; Methods or instruments for detecting pregnancy-related states of animals for detecting pregnancy of animals
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Biophysics (AREA)
- Pregnancy & Childbirth (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Gynecology & Obstetrics (AREA)
- Heart & Thoracic Surgery (AREA)
- Wood Science & Technology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Zoology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a device for detecting gestation in farm animals. According to the invention, said device is characterized by a receiving device which defines an accommodation space for a farm animal to be examined, and a mounting for an ultrasonic measuring head, which is connected to a frame that can be moved relative to the receiving device, and a data evaluation unit which is connected to the ultrasonic measuring head in terms of signaling.
Description
DEVICE FOR DETECTING GESTATION
The invention relates to a device for detecting pregnancy in livestock.
Another aspect of the invention concerns a method for detecting pregnancy in livestock.
Devices and method for detecting pregnancy in livestock are basically known and are used to establish whether a livestock animal is pregnant or not. It is desirable to establish this at an early stage in pregnancy and also with a high degree of reliability. Both requirements are of essential importance for animal breeding procedures and for the health of the mother animal.
Prior art devices and methods are based on a veterinary examination of the animal and apply devices and methods that are also known from the field of human medicine for performing the respective kinds of diagnosis. Such an examination is typically performed with the aid of an ultrasound scanning device which generates a two-dimensional recorded image, on the basis of which a skilled person can evaluate whether the animal is pregnant. For that purpose, an ultrasound scanning head is placed in such a way on the skin of the animal to be examined that the scanning range of the ultrasound scanning head includes the uterus of the animal and can thus detect and display an image of one or more embryos therein. However, this technique is costly if a diagnosis is to be made with the desired level of certainty, yet also at an early phase, because it requires that the animal be examined by qualified personnel at short intervals, using costly testing equipment.
Such a device is known from EP 0 386 503 B1. This prior art device is used to determine whether a large female animal is pregnant. The patent specification describes an ultrasound apparatus in which the face of the scanning head has a specific design.
Although this prior art technology provides better ultrasound propagation from the ultrasound scanning head in certain applications, in particular on hairy livestock, and thus allows pregnancy to be assessed more reliably on the basis of better imaging, this prior art device does not deliver any advantages with regard to the costs of the examination technique and the possibility of checking at short intervals.
Another ultrasound scanning head is known from EP 0 173 837. This system is likewise designed as a hand-held device and requires that the examination and assessment be carried out by a qualified expert. The costs for an examination are not reduced with this prior art apparatus, nor are any opportunities created for efficient monitoring at short intervals.
Another ultrasound apparatus aimed at semi-automatic pregnancy detection is known from DE 94 05 822. In said apparatus, ultrasound images recorded by a qualified expert are automatically analysed and a signal indicating pregnancy is outputted. The disadvantage of this apparatus is that the costs involved cannot be reduced in this case either, if checks are performed at short intervals. It has also been found that automated image analysis with this device produces unreliable results, as a consequence of which it is not possible with the system to state with any reliability whether an animal is pregnant or not.
Another ultrasound testing unit aimed at detecting pregnancy of a livestock animal on the basis of an attenuation coefficient of the ultrasound signal is known from WO 2007/085073. However, the method described in this prior art likewise uses a costly apparatus that must be operated by a qualified expert and which merely provides an alternative or supplementary basis for diagnosis. The disadvantages of this prior art, therefore, are also that costs cannot be reduced with the method, that the reliability of diagnosis can only be increased by conducting additional measures, yet no increase in reliability is achieved is an alternative assessment is based purely on the attenuation coefficient.
Within this context, the object of the invention is to provide a pregnancy testing device which allows pregnancy to be detected with a degree of reliability at least equal to that of the prior art but at reduced overall cost, or with a greater degree of reliability in pregnancy detection while keeping costs at least equal.
This object is achieved, according to the invention, by a pregnancy testing device for livestock, comprising the following steps:
an accommodation unit defining an accommodation space for a livestock animal being tested for pregnancy, and a holder for an ultrasound scanning head connected to a frame which can be moved relative to the accommodation unit, and a data evaluation unit in signal communication with the ultrasound scanning head.
The invention is based on the realisation that it is possible to both simplify the test procedure and also to increase the reliability of the pregnancy testing result by reproducibly positioning an ultrasound scanning head in relation to a livestock animal to
The invention relates to a device for detecting pregnancy in livestock.
Another aspect of the invention concerns a method for detecting pregnancy in livestock.
Devices and method for detecting pregnancy in livestock are basically known and are used to establish whether a livestock animal is pregnant or not. It is desirable to establish this at an early stage in pregnancy and also with a high degree of reliability. Both requirements are of essential importance for animal breeding procedures and for the health of the mother animal.
Prior art devices and methods are based on a veterinary examination of the animal and apply devices and methods that are also known from the field of human medicine for performing the respective kinds of diagnosis. Such an examination is typically performed with the aid of an ultrasound scanning device which generates a two-dimensional recorded image, on the basis of which a skilled person can evaluate whether the animal is pregnant. For that purpose, an ultrasound scanning head is placed in such a way on the skin of the animal to be examined that the scanning range of the ultrasound scanning head includes the uterus of the animal and can thus detect and display an image of one or more embryos therein. However, this technique is costly if a diagnosis is to be made with the desired level of certainty, yet also at an early phase, because it requires that the animal be examined by qualified personnel at short intervals, using costly testing equipment.
Such a device is known from EP 0 386 503 B1. This prior art device is used to determine whether a large female animal is pregnant. The patent specification describes an ultrasound apparatus in which the face of the scanning head has a specific design.
Although this prior art technology provides better ultrasound propagation from the ultrasound scanning head in certain applications, in particular on hairy livestock, and thus allows pregnancy to be assessed more reliably on the basis of better imaging, this prior art device does not deliver any advantages with regard to the costs of the examination technique and the possibility of checking at short intervals.
Another ultrasound scanning head is known from EP 0 173 837. This system is likewise designed as a hand-held device and requires that the examination and assessment be carried out by a qualified expert. The costs for an examination are not reduced with this prior art apparatus, nor are any opportunities created for efficient monitoring at short intervals.
Another ultrasound apparatus aimed at semi-automatic pregnancy detection is known from DE 94 05 822. In said apparatus, ultrasound images recorded by a qualified expert are automatically analysed and a signal indicating pregnancy is outputted. The disadvantage of this apparatus is that the costs involved cannot be reduced in this case either, if checks are performed at short intervals. It has also been found that automated image analysis with this device produces unreliable results, as a consequence of which it is not possible with the system to state with any reliability whether an animal is pregnant or not.
Another ultrasound testing unit aimed at detecting pregnancy of a livestock animal on the basis of an attenuation coefficient of the ultrasound signal is known from WO 2007/085073. However, the method described in this prior art likewise uses a costly apparatus that must be operated by a qualified expert and which merely provides an alternative or supplementary basis for diagnosis. The disadvantages of this prior art, therefore, are also that costs cannot be reduced with the method, that the reliability of diagnosis can only be increased by conducting additional measures, yet no increase in reliability is achieved is an alternative assessment is based purely on the attenuation coefficient.
Within this context, the object of the invention is to provide a pregnancy testing device which allows pregnancy to be detected with a degree of reliability at least equal to that of the prior art but at reduced overall cost, or with a greater degree of reliability in pregnancy detection while keeping costs at least equal.
This object is achieved, according to the invention, by a pregnancy testing device for livestock, comprising the following steps:
an accommodation unit defining an accommodation space for a livestock animal being tested for pregnancy, and a holder for an ultrasound scanning head connected to a frame which can be moved relative to the accommodation unit, and a data evaluation unit in signal communication with the ultrasound scanning head.
The invention is based on the realisation that it is possible to both simplify the test procedure and also to increase the reliability of the pregnancy testing result by reproducibly positioning an ultrasound scanning head in relation to a livestock animal to
- 2 -be tested. Several factors are involved in achieving such a result. Firstly, the test procedure is simplified by the accommodation unit and by the holder, disposed on the moveable frame, for the ultrasound scanning head, in that the livestock animal can be brought into a defined position and body posture, on the one hand, and in that, on this basis, both the location and the orientation of the ultrasound signal transmitted from the ultrasound scanning head can be reproducibly set for the respective animal for each series of scans, on the other hand. This means that several scans on the one animal and also on several different animals are performed with the ultrasound scanning head in same position and orientation. This allows the test to be carried out by personnel who have not completed any basic veterinary training, or specific training relating to the conducting of pregnancy tests. Furthermore, the device according to the invention produces measurement results which can be used significantly better for automatic analysis of the image data, due to the positioning and orientation of the produced image always being constant, than measurement data obtained with a device that is manually guided by skilled personnel. The reason for this is that, as the inventors have discovered, customary methods of analysis and filtering can be automated in such image analysis procedures if such analysis is based on a typical, constantly recurring image with typical recurring artefacts. However, such an image is not usually obtained when the recorded image is manually optimised by skilled personnel, because different artefacts are produced irregularly every time, from one image to the next, in the search for the best picture with the smallest artefact, and because such artefacts cannot be filtered out in a reliable manner using automated analytical procedures. Another reason for the advantage achieved with the invention, finally, is the possibility of conducting the pregnancy test when animals are separated from each other inside the livestock building, for example when feeding the animals, thus allowing checks to be carried out at short intervals without having to apply major additional effort in respect of the apparatus being used, or in respect of the daily routine of the livestock animal.
A accommodation unit within the meaning of the inventive device is understood to be a single- or multi-part device which encloses a three-dimensional space into which exactly one livestock animal fits. It is preferred thereby that both the position and also the posture of the animal is predetermined as precisely as possible by the accommodation unit. This position and posture should be reproducibly identical when using the accommodation unit for a plurality of different animals, in order that the holder with the ultrasound scanning head can be reliably positioned by the frame. One example of such a accommodation unit is an alleyway bounded by two side walls, for example, into which a livestock animal can enter in order to find a feeding station at the front end and to eat feed provided there. The side walls position the animal laterally, and the feeding station positions the animal in the
A accommodation unit within the meaning of the inventive device is understood to be a single- or multi-part device which encloses a three-dimensional space into which exactly one livestock animal fits. It is preferred thereby that both the position and also the posture of the animal is predetermined as precisely as possible by the accommodation unit. This position and posture should be reproducibly identical when using the accommodation unit for a plurality of different animals, in order that the holder with the ultrasound scanning head can be reliably positioned by the frame. One example of such a accommodation unit is an alleyway bounded by two side walls, for example, into which a livestock animal can enter in order to find a feeding station at the front end and to eat feed provided there. The side walls position the animal laterally, and the feeding station positions the animal in the
- 3 -longitudinal direction of the alleyway, the feeding process ensuring a typical posture of the animal, i.e. typically avoiding the animal sitting or lying.
The purpose of the holder provided in accordance with the invention for the ultrasound scanning head is to allow an ultrasound scanning head to be mounted preferably detachably therein. Said holder may be embodied in different ways, depending on the specific design of the ultrasound scanning head, for example in the form of one or more threaded holes, in the form of a positive-engagement and/or force-locked holder in which the ultrasound scanning head can be clamped, for example, or in some other construction.
Another component of the device according to the invention is a frame to which said holder is attached and which can be moved relative to the accommodation unit.
Said frame can be moved easily in relation to one spatial axis only, be it with a translational movement or a rotatory movement, in order to guide the holder, with the ultrasound scanning head disposed thereon, to the body of the livestock animal. It is particularly preferred that the frame be fixed to the accommodation unit and provides relative mobility by means of a pivot axis or a linear guide or a plurality of such pivot axes or linear guides, or combinations thereof. It should be understood, as a basic principle, that the reason for the particular number of degrees of freedom that this mobility involves, is to ensure that the number of degrees of freedom are provided that are needed to position the ultrasound scanning head such that it delivers reliable data, and that any additional degrees of freedom are to be avoided. Preferred embodiments in this regard are described in the subsequent claims.
According to the invention, finally, a data evaluation unit is provided which receives by signal transmission the. data captured by the ultrasound scanning head. This data evaluation unit may preferably be connected to the ultrasound scanning head by wire, or may be connected wirelessly, if necessary, and it is preferably designed in such a way that the ultrasound images can be analysed automatically, for example in the form of a greyscale analysis, in order to derive a clear conclusion from the ultrasound image as to whether or not the animal is pregnant.
According to a first preferred embodiment, the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls, in particular by means of a guide device attached to the side walls.
The purpose of the holder provided in accordance with the invention for the ultrasound scanning head is to allow an ultrasound scanning head to be mounted preferably detachably therein. Said holder may be embodied in different ways, depending on the specific design of the ultrasound scanning head, for example in the form of one or more threaded holes, in the form of a positive-engagement and/or force-locked holder in which the ultrasound scanning head can be clamped, for example, or in some other construction.
Another component of the device according to the invention is a frame to which said holder is attached and which can be moved relative to the accommodation unit.
Said frame can be moved easily in relation to one spatial axis only, be it with a translational movement or a rotatory movement, in order to guide the holder, with the ultrasound scanning head disposed thereon, to the body of the livestock animal. It is particularly preferred that the frame be fixed to the accommodation unit and provides relative mobility by means of a pivot axis or a linear guide or a plurality of such pivot axes or linear guides, or combinations thereof. It should be understood, as a basic principle, that the reason for the particular number of degrees of freedom that this mobility involves, is to ensure that the number of degrees of freedom are provided that are needed to position the ultrasound scanning head such that it delivers reliable data, and that any additional degrees of freedom are to be avoided. Preferred embodiments in this regard are described in the subsequent claims.
According to the invention, finally, a data evaluation unit is provided which receives by signal transmission the. data captured by the ultrasound scanning head. This data evaluation unit may preferably be connected to the ultrasound scanning head by wire, or may be connected wirelessly, if necessary, and it is preferably designed in such a way that the ultrasound images can be analysed automatically, for example in the form of a greyscale analysis, in order to derive a clear conclusion from the ultrasound image as to whether or not the animal is pregnant.
According to a first preferred embodiment, the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls, in particular by means of a guide device attached to the side walls.
- 4 -With this configuration, the is designed to be moveable, in special cooperation with the accommodation unit, in order in this way to position in a defined manner the livestock animal to be examined, and to allow the holder of the ultrasound scanning head to be position relative to the variable body length of the livestock animal by moving the bridge along the side walls. The bridge is preferably mounted on the upper edges of the side walls and can thus be moved horizontally into a scanning position, in particular from a neutral position in which the animal is not hindered from entering the accommodation unit. Side walls are understood in this embodiment to be solid wall surfaces, on the one hand, and in other embodiments the side walls may also be provided in the form of struts, grids or the like. The bridge preferably extends from one side wall to the other side wall in a direction perpendicular to the planes defined by the side walls.
It is still further preferred that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a vertical strut to which the holder is connected for vertical mobility of the ultrasound scanning head, in particular in such a way that the vertical strut is connected to a bridge which can be moved horizontally along the side walls, and the vertical strut can be moved vertically in conjunction with the ultrasound scanning head to said bridge, or the ultrasound scanning head can be moved vertically along the vertical strut.
Such a frame design with vertical struts allows the holder to be positioned in the vertical direction, in order to move the holder to different heights and thus to position the ultrasound scanning head with precision at a desired scanning position for different heights of animal. This vertical mobility can basically be achieved by disposing the ultrasound scanning head on the vertical strut and allowing the vertical strut itself to be vertically mobile, or by making the vertical strut itself immobile, but allowing the holder for the ultrasound scanning head to move along the vertical strut. In the particularly preferred embodiment of a frame with a bridge and vertical strut, the mobility of the holder for the ultrasound scanning head is provided in two axis directions, as a result of which the holder can be moved, with regard to the resultant scanning position, relative to different lengths of the livestock animals to be examined, and relative to different heights of the livestock animals to be examined.
This ensures that livestock animals of different lengths and heights can be tested reliably with the device according to the invention.
It is still further preferred that the holder is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis lying parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular horizontal and parallel to the side walls defining the accommodation space.
This
It is still further preferred that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a vertical strut to which the holder is connected for vertical mobility of the ultrasound scanning head, in particular in such a way that the vertical strut is connected to a bridge which can be moved horizontally along the side walls, and the vertical strut can be moved vertically in conjunction with the ultrasound scanning head to said bridge, or the ultrasound scanning head can be moved vertically along the vertical strut.
Such a frame design with vertical struts allows the holder to be positioned in the vertical direction, in order to move the holder to different heights and thus to position the ultrasound scanning head with precision at a desired scanning position for different heights of animal. This vertical mobility can basically be achieved by disposing the ultrasound scanning head on the vertical strut and allowing the vertical strut itself to be vertically mobile, or by making the vertical strut itself immobile, but allowing the holder for the ultrasound scanning head to move along the vertical strut. In the particularly preferred embodiment of a frame with a bridge and vertical strut, the mobility of the holder for the ultrasound scanning head is provided in two axis directions, as a result of which the holder can be moved, with regard to the resultant scanning position, relative to different lengths of the livestock animals to be examined, and relative to different heights of the livestock animals to be examined.
This ensures that livestock animals of different lengths and heights can be tested reliably with the device according to the invention.
It is still further preferred that the holder is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis lying parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular horizontal and parallel to the side walls defining the accommodation space.
This
- 5 -development addresses a specific problem in connection with fully or partially automatic testing of livestock animals with diagnostic equipment. The aim of the ultrasound scanning technology deployed here is that the ultrasound scanning head be applied with a particular application pressure to a flat surface. The inclination of the body surface of the livestock animal in the region of and adjacent to the scanning position cannot usually be predicted with any reliability and is dependent, inter alia, on the posture of the animal, its corpulence and similar factors. An ultrasound scanning head must be applied in such a way that the animal is not startled by the contact or that might lead to a startled response on the part of the animal, and hence that reliable scanning is performed. It has been discovered in connection with this development of the invention that, by disposing the holder at the end of a link chain, it is possible to apply the ultrasound scanning head disposed in the holder to the body surface of the animal in a defined manner.
The particular advantage achieved here is that no rigid members are used to guide the holder on the frame in the relevant region close to the body of the animal and hence that no local compressive forces can be exerted on the body of the animal that might startle the animal. The link chain allows the holder to be guided in a defined manner and at the same time for the frame to be placed almost without pressure against the body of the livestock animal in the region around the holder, with reliable scanning being favoured as a result. This is specifically achieved whenever the link chain is arranged in such a way in zo respect of its chain axes that it can nestle against the body of the animal in its vertical longitudinal extension and thus achieve the desired pressureless contact with the body of the animal.
It is particularly preferred that the link chain can be pivoted about at least a plurality of chain link axes by means of an actuator, preferably by means of a pulling cable which is guided spaced apart within the link chain from the chain link axis and which is connected to an actuator-activated pulling device. The link chain can be actuated by different actuators. More particularly, it is also possible to use actuators that are disposed outside link chain and that act only on the holder, for example, in order to position the latter on the body surface of the livestock animal. These actuators may extend from a point on the frame to the link chain. Particularly advantageous mobility of the link chain is achieved, however, when a pulling pulling cable is used to pivot the chain links relative to each other. This can be achieved particularly efficiently when the pulling cable is placed within the chain and is guided therein by the individual chain links being designed accordingly. If it runs spaced apart from at least some axes of the link chain, a pulling cable guided in such a manner may induce in the chain, when placed until tension, a variable curvature that rests against an irregularly curved surface. This tensioning of the pulling cable may be actuated by an actuator, wherein such tensioning is to be understood as a respective
The particular advantage achieved here is that no rigid members are used to guide the holder on the frame in the relevant region close to the body of the animal and hence that no local compressive forces can be exerted on the body of the animal that might startle the animal. The link chain allows the holder to be guided in a defined manner and at the same time for the frame to be placed almost without pressure against the body of the livestock animal in the region around the holder, with reliable scanning being favoured as a result. This is specifically achieved whenever the link chain is arranged in such a way in zo respect of its chain axes that it can nestle against the body of the animal in its vertical longitudinal extension and thus achieve the desired pressureless contact with the body of the animal.
It is particularly preferred that the link chain can be pivoted about at least a plurality of chain link axes by means of an actuator, preferably by means of a pulling cable which is guided spaced apart within the link chain from the chain link axis and which is connected to an actuator-activated pulling device. The link chain can be actuated by different actuators. More particularly, it is also possible to use actuators that are disposed outside link chain and that act only on the holder, for example, in order to position the latter on the body surface of the livestock animal. These actuators may extend from a point on the frame to the link chain. Particularly advantageous mobility of the link chain is achieved, however, when a pulling pulling cable is used to pivot the chain links relative to each other. This can be achieved particularly efficiently when the pulling cable is placed within the chain and is guided therein by the individual chain links being designed accordingly. If it runs spaced apart from at least some axes of the link chain, a pulling cable guided in such a manner may induce in the chain, when placed until tension, a variable curvature that rests against an irregularly curved surface. This tensioning of the pulling cable may be actuated by an actuator, wherein such tensioning is to be understood as a respective
- 6 -way of manually tensioning the pulling cable by means of a tensioning device in the form of a lever, for example, or tensioning of the pulling cable that is effected by an actuator which is driven electrically, pneumatically or in some other manner.
According to another preferred embodiment, the holder for the ultrasound scanning head is coupled to an actuator for positioning the ultrasound scanning head at a predetermined place on the body of the livestock animal, the frame permits relative mobility of the holder for the ultrasound scanning head in at least one axis and a controller is provided for active positioning and passive repositioning of an ultrasound scanning head held in the holder, said controller being configured to actively position the holder locally, in a positioning mode, by means of one or more actuators of the frame, in such a way that the frame performs only actuator-activated movements of the holder, and to guide the holder through the frame in at least one axis, in a scanning mode, in such a freely moveable manner that the holder can passively follow movements made by the livestock animal.
This embodiment achieves exact positioning of the holder on the livestock animal, by providing a frame configuration for that purpose that is generally stiff in the positioning mode, and in which the holder can be moved to the desired scanning position by movements within the frame, relative to one or more axes. This active positioning of the holder can be understood, more particularly, to be a horizontal displacement of a bridge of the frame, a vertical displacement of the holder by means of or along a vertical strut and/or lateral placement of the holder on the body surface of the livestock animal, for example by means of a link chain on which tensile force is applied by a pulling cable.
Once the scanning head has been place in the desired scanning position on the body surface of the livestock animal, a degree of adhesion is produced by the compressive force exerted there. In order for the scan to be carried out over a particular period of time after such placement, and not be impaired by movements of the livestock animal, it is advantageous then if the frame is taken out of the rigid frame configuration into a frame configuration in which it can follow such movements of the livestock animal in at least one axis. The frame may have a horizontal axis lying above the livestock animal and extending transversely to the longitudinal axis of the livestock animal, and allowing the holder to be arranged on struts extending vertically downwards from said axis and to be pivoted about said axis, thus allowing it to follow movements of the livestock animal in its longitudinal direction. It should be understood in this regard that the positioning mode can also be achieved when, due to the inertia of the frame, a defined position of the holder can be reproducibly set, for example using the force of gravity, even after individual frame members have been moved, without a moveable axis having to be blocked for that purpose. With such a frame configuration, it is therefore possible to dispense with any
According to another preferred embodiment, the holder for the ultrasound scanning head is coupled to an actuator for positioning the ultrasound scanning head at a predetermined place on the body of the livestock animal, the frame permits relative mobility of the holder for the ultrasound scanning head in at least one axis and a controller is provided for active positioning and passive repositioning of an ultrasound scanning head held in the holder, said controller being configured to actively position the holder locally, in a positioning mode, by means of one or more actuators of the frame, in such a way that the frame performs only actuator-activated movements of the holder, and to guide the holder through the frame in at least one axis, in a scanning mode, in such a freely moveable manner that the holder can passively follow movements made by the livestock animal.
This embodiment achieves exact positioning of the holder on the livestock animal, by providing a frame configuration for that purpose that is generally stiff in the positioning mode, and in which the holder can be moved to the desired scanning position by movements within the frame, relative to one or more axes. This active positioning of the holder can be understood, more particularly, to be a horizontal displacement of a bridge of the frame, a vertical displacement of the holder by means of or along a vertical strut and/or lateral placement of the holder on the body surface of the livestock animal, for example by means of a link chain on which tensile force is applied by a pulling cable.
Once the scanning head has been place in the desired scanning position on the body surface of the livestock animal, a degree of adhesion is produced by the compressive force exerted there. In order for the scan to be carried out over a particular period of time after such placement, and not be impaired by movements of the livestock animal, it is advantageous then if the frame is taken out of the rigid frame configuration into a frame configuration in which it can follow such movements of the livestock animal in at least one axis. The frame may have a horizontal axis lying above the livestock animal and extending transversely to the longitudinal axis of the livestock animal, and allowing the holder to be arranged on struts extending vertically downwards from said axis and to be pivoted about said axis, thus allowing it to follow movements of the livestock animal in its longitudinal direction. It should be understood in this regard that the positioning mode can also be achieved when, due to the inertia of the frame, a defined position of the holder can be reproducibly set, for example using the force of gravity, even after individual frame members have been moved, without a moveable axis having to be blocked for that purpose. With such a frame configuration, it is therefore possible to dispense with any
- 7 -active blocking and release of a frame axis, without having to abandon the advantage of exact positioning and repositioning of the holder.
According to another preferred embodiment, a wetting device is provided for feeding a pasty or liquid acoustic coupling medium onto the transmitting and receiving surface of the ultrasound scanning head, said wetting device comprising a reservoir for the acoustic medium, a connection line for conducting the acoustic coupling medium from the reservoir to a discharge opening and arranged in such a way that acoustic coupling medium exiting the discharge opening is applied to the transmitting and receiving surface of the ultrasound scanning head, and a conveying device for conveying the acoustic coupling medium from the reservoir to the discharge opening. This development of the invention achieves automatic wetting of the scanning head with a coupling medium, thus increasing still further the efficiency and reliability of the device according to the invention.
The wetting device may be disposed immediately beside the holder, thus allowing the coupling medium to be applied directly to the ultrasound scanning head in any position of the frame. In another configuration, the wetting device is disposed on the frame or the accommodation unit in such a way that the ultrasound scanning head can be guided by means of the holder to the discharge opening for coupling medium, where it is wetted and then guided away again from the wetting device in order to carry out the scan.
It is particularly preferred that the device according to the invention is designed in such a zo way that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls, a vertical strut is connected to the bridge, the holder for the ultrasound scanning head is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis running parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular running horizontal and parallel to the side walls defining the accommodation space, the link chain comprising a plurality of links is displaceably mounted at a variable height on the vertical strut and pivotably about a horizontal repositioning axis extending transversely to the longitudinal axis of the accommodation space, and the repositioning axis can preferably be locked, in a positioning mode, by means of a positioning and repositioning mechanism, and can be freely moved in a scanning mode. This configuration provides a degree of frame mobility that allows the holder to be guided to a scan position on the body surface of a livestock animal, at a defined angle in relation to the horizontal, and to take typical anatomical variations in the size of the livestock animals into consideration.
More specifically, this frame design allows numerous movements of the holder required
According to another preferred embodiment, a wetting device is provided for feeding a pasty or liquid acoustic coupling medium onto the transmitting and receiving surface of the ultrasound scanning head, said wetting device comprising a reservoir for the acoustic medium, a connection line for conducting the acoustic coupling medium from the reservoir to a discharge opening and arranged in such a way that acoustic coupling medium exiting the discharge opening is applied to the transmitting and receiving surface of the ultrasound scanning head, and a conveying device for conveying the acoustic coupling medium from the reservoir to the discharge opening. This development of the invention achieves automatic wetting of the scanning head with a coupling medium, thus increasing still further the efficiency and reliability of the device according to the invention.
The wetting device may be disposed immediately beside the holder, thus allowing the coupling medium to be applied directly to the ultrasound scanning head in any position of the frame. In another configuration, the wetting device is disposed on the frame or the accommodation unit in such a way that the ultrasound scanning head can be guided by means of the holder to the discharge opening for coupling medium, where it is wetted and then guided away again from the wetting device in order to carry out the scan.
It is particularly preferred that the device according to the invention is designed in such a zo way that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls, a vertical strut is connected to the bridge, the holder for the ultrasound scanning head is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis running parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular running horizontal and parallel to the side walls defining the accommodation space, the link chain comprising a plurality of links is displaceably mounted at a variable height on the vertical strut and pivotably about a horizontal repositioning axis extending transversely to the longitudinal axis of the accommodation space, and the repositioning axis can preferably be locked, in a positioning mode, by means of a positioning and repositioning mechanism, and can be freely moved in a scanning mode. This configuration provides a degree of frame mobility that allows the holder to be guided to a scan position on the body surface of a livestock animal, at a defined angle in relation to the horizontal, and to take typical anatomical variations in the size of the livestock animals into consideration.
More specifically, this frame design allows numerous movements of the holder required
- 8 -for positioning to be carried out, before the holder or other parts of the frame come into contact with the livestock animal, and pressureless contact of the frame and the ultrasound scanning head against the body surface of the animal to be produced in a final step by placing the link chain on the body surface of the animal.
It is still further preferred that the device according to the invention has a two- or three-dimensional image detection device for detecting the contour of a portion of the contour of the livestock animal, an image analysis unit in signal communication with said image detection device and configured to determine a scanning point or scanning region on the basis of the detected contour or detected contour portion, a controller for the scanning head holder, said controller being in signal communication with the image analysis unit and in signal communication with one or more actuators for moving the holder for the ultrasound scanning head, and configured to move the holder in such a way that an ultrasound scanning head accommodated therein is guided to the scanning point or into the scanning region. This development of the invention allows the positioning of the scanning head on the body surface of the animal and also the orientation of the scanning head, if necessary, to be automated by determining the required anatomical dimensions of the animal by means of image detection. It should be understood in this regard that the livestock animal does not necessarily have to be scanned over its entire anatomy in order to obtain the data required for positioning. In many cases, instead, it is possible to draw zo conclusions about the anatomical dimensions relevant for positioning the ultrasound scanning head on the basis of individual anatomical dimensions that have been determined on the basis of experiential values stored in the image analysis unit, such as the total length of the animal and the width of the animal at a particular point. It is usually only necessary to perform two-dimensional image detection, therefore, in order to calculate the positioning data with sufficient accuracy.
It should be understood in this regard that the image analysis unit may also be designed to store such an anatomical detection and calculation, also with assignment of a code characterising the livestock animal, in order to have recourse to these data again when subsequent scans are taken.
It should also be understood that two- or three-dimensional image detection is used not only to detect anatomical dimensions of the livestock animal, but can also be used to determine the position and posture of the animal inside the accommodation unit. In many cases, it is not adequate or feasible to define and fix a livestock animal in the accommodation unit in respect of its position and posture in such a way that the positioning of the ultrasound scanning head can be determined reliably and reproducibly
It is still further preferred that the device according to the invention has a two- or three-dimensional image detection device for detecting the contour of a portion of the contour of the livestock animal, an image analysis unit in signal communication with said image detection device and configured to determine a scanning point or scanning region on the basis of the detected contour or detected contour portion, a controller for the scanning head holder, said controller being in signal communication with the image analysis unit and in signal communication with one or more actuators for moving the holder for the ultrasound scanning head, and configured to move the holder in such a way that an ultrasound scanning head accommodated therein is guided to the scanning point or into the scanning region. This development of the invention allows the positioning of the scanning head on the body surface of the animal and also the orientation of the scanning head, if necessary, to be automated by determining the required anatomical dimensions of the animal by means of image detection. It should be understood in this regard that the livestock animal does not necessarily have to be scanned over its entire anatomy in order to obtain the data required for positioning. In many cases, instead, it is possible to draw zo conclusions about the anatomical dimensions relevant for positioning the ultrasound scanning head on the basis of individual anatomical dimensions that have been determined on the basis of experiential values stored in the image analysis unit, such as the total length of the animal and the width of the animal at a particular point. It is usually only necessary to perform two-dimensional image detection, therefore, in order to calculate the positioning data with sufficient accuracy.
It should be understood in this regard that the image analysis unit may also be designed to store such an anatomical detection and calculation, also with assignment of a code characterising the livestock animal, in order to have recourse to these data again when subsequent scans are taken.
It should also be understood that two- or three-dimensional image detection is used not only to detect anatomical dimensions of the livestock animal, but can also be used to determine the position and posture of the animal inside the accommodation unit. In many cases, it is not adequate or feasible to define and fix a livestock animal in the accommodation unit in respect of its position and posture in such a way that the positioning of the ultrasound scanning head can be determined reliably and reproducibly
- 9 -with knowledge of the scanning position relative to the body. Instead, the image detection device according to the invention can be used to determine the position and posture of the animal from one or more recorded images, with positioning being based on an analysis of images captured in such a manner, in order to then hold the ultrasound scanning head, once it has been placed on the animal, in the scanning position during scanning by active or passive repositioning to the scanning position.
Finally, the device according to the invention can be further developed by a horizontal pivot axis disposed on the holder, by means of which the holder can be pivoted about a horizontal axis lying parallel to the longitudinal axis of the animal and preferably also characterised by a pivot actuator mechanically coupled between the frame and the holder, by means of which the holder can be pivoted about said horizontal pivot axis. This development of the invention provides the holder with a defined mobility which allows it to change the scanning angle of the ultrasound scanning head relative to the horizontal.
This change in scanning angle has been discovered, according to the invention, to be an important factor for successful scanning and for reliable statements concerning pregnancy. For such a statement, it is specifically preferred that the holder can be pivoted about this horizontal longitudinal axis in order to carry out several successive scans from different angles relative to the horizontal. This sequence of scans can then be analysed, either with all images being analysed, or with one or individual relevant images being selected and then only those images being subsequently analysed.
Another aspect of the invention concerns a pregnancy testing method for livestock, said method comprising the steps of: receiving the livestock animal in a defined accommodation space, measuring the contours of the animal by means of a detection device for detecting two- or three-dimensional images, evaluating the animal contour data and determining a scanning point for an ultrasound test based on comparing the animal contour data with stored anatomical data, guiding an ultrasound scanning head held in a holder to the scanning point by moving the holder relative to the accommodation space by means of a frame, detecting scanning data by means of the ultrasound scanning head, evaluating the measurement data by image recognition of features which can be used to distinguish whether the livestock animal is pregnant. This method provides an efficient and fully or partially automated pregnancy test for livestock that delivers reliable results.
The method can be developed according to claims 13 to 16. With regard to the specific design of these developments of the method and the advantage achieved as a result, reference is made to the description of the respective apparatuses and developments thereof in the foregoing.
Finally, the device according to the invention can be further developed by a horizontal pivot axis disposed on the holder, by means of which the holder can be pivoted about a horizontal axis lying parallel to the longitudinal axis of the animal and preferably also characterised by a pivot actuator mechanically coupled between the frame and the holder, by means of which the holder can be pivoted about said horizontal pivot axis. This development of the invention provides the holder with a defined mobility which allows it to change the scanning angle of the ultrasound scanning head relative to the horizontal.
This change in scanning angle has been discovered, according to the invention, to be an important factor for successful scanning and for reliable statements concerning pregnancy. For such a statement, it is specifically preferred that the holder can be pivoted about this horizontal longitudinal axis in order to carry out several successive scans from different angles relative to the horizontal. This sequence of scans can then be analysed, either with all images being analysed, or with one or individual relevant images being selected and then only those images being subsequently analysed.
Another aspect of the invention concerns a pregnancy testing method for livestock, said method comprising the steps of: receiving the livestock animal in a defined accommodation space, measuring the contours of the animal by means of a detection device for detecting two- or three-dimensional images, evaluating the animal contour data and determining a scanning point for an ultrasound test based on comparing the animal contour data with stored anatomical data, guiding an ultrasound scanning head held in a holder to the scanning point by moving the holder relative to the accommodation space by means of a frame, detecting scanning data by means of the ultrasound scanning head, evaluating the measurement data by image recognition of features which can be used to distinguish whether the livestock animal is pregnant. This method provides an efficient and fully or partially automated pregnancy test for livestock that delivers reliable results.
The method can be developed according to claims 13 to 16. With regard to the specific design of these developments of the method and the advantage achieved as a result, reference is made to the description of the respective apparatuses and developments thereof in the foregoing.
-10-A preferred embodiment shall now be described with reference to the attached Figures, in which:
Fig. 1 shows a front view of a pregnancy testing device according to the invention, with a livestock animal schematically depicted therein, Fig. 2 shows a side view of the device in Fig. 1, Fig. 3 shows a plan view of the device in Fig. 1, Fig. 4 shows a perspective view of the pregnancy testing device according to the invention, seen at an angle from above and to the left, Fig. 5 shows a view corresponding to Fig. 4, at an angle from the front and from top right, Fig. 6 shows a detailed perspective view of the embodiment shown in Fig. 4, Fig. 7 shows a detailed side view of the embodiment in Fig. 4, Fig. 8 shows a detailed perspective view of a wetting device for a coupling medium, in the embodiment shown in Fig. 4, Fig. 9 shows a front perspective view of a holder with an inserted ultrasonic scanning head of the embodiment shown in Fig. 4, Fig. 10 shows a detailed perspective view of the wetting device shown in Fig.
8, and Fig. 11 shows an overall view of the wetting device.
It can be seen, by referring to Figures 1 to 3, that an accommodation area in the device according to the invention is limited by side walls 11, 12. The accommodation space 213 defines a central longitudinal axis 100. A livestock animal, in this case a sow, has space to stand in accommodation area 10. It should be understood that the standing position of the livestock animal can be further defined by a front and rear boundary in the accommodation area, in order to thus ensure that the livestock animal is standing in a particular position relative to the axial direction 100 of the accommodation area.
Fig. 1 shows a front view of a pregnancy testing device according to the invention, with a livestock animal schematically depicted therein, Fig. 2 shows a side view of the device in Fig. 1, Fig. 3 shows a plan view of the device in Fig. 1, Fig. 4 shows a perspective view of the pregnancy testing device according to the invention, seen at an angle from above and to the left, Fig. 5 shows a view corresponding to Fig. 4, at an angle from the front and from top right, Fig. 6 shows a detailed perspective view of the embodiment shown in Fig. 4, Fig. 7 shows a detailed side view of the embodiment in Fig. 4, Fig. 8 shows a detailed perspective view of a wetting device for a coupling medium, in the embodiment shown in Fig. 4, Fig. 9 shows a front perspective view of a holder with an inserted ultrasonic scanning head of the embodiment shown in Fig. 4, Fig. 10 shows a detailed perspective view of the wetting device shown in Fig.
8, and Fig. 11 shows an overall view of the wetting device.
It can be seen, by referring to Figures 1 to 3, that an accommodation area in the device according to the invention is limited by side walls 11, 12. The accommodation space 213 defines a central longitudinal axis 100. A livestock animal, in this case a sow, has space to stand in accommodation area 10. It should be understood that the standing position of the livestock animal can be further defined by a front and rear boundary in the accommodation area, in order to thus ensure that the livestock animal is standing in a particular position relative to the axial direction 100 of the accommodation area.
- 11 -Above the accommodation area, a rectangular frame with rounded corners is placed on the two side walls by means of four struts. Frame 20 is stationarily fixed to the side walls, but can be moved horizontally along the side walls for basic adjustment and then fixed in a substantially suitable position for subsequent scanning.
Two longitudinal bars 21, 22 extend parallel and symmetrically to the central longitudinal axis 100 of frame 20, from a front frame bar 23 to a rear frame bar 24 and are securely welded to said two frame bars.
Referring also now to Figures 4 and 5, which show the pregnancy testing device according to the invention without the side walls, it can be seen that a vertical strut 30 is arranged above longitudinal bars 21, 22 and extends in the vertical direction.
Vertical strut 30 can be moved horizontally along longitudinal bars 21, 22.
A receiving block 40 is mounted vertically slideably on vertical strut 30.
Receiving block 40 can be moved by means of an actuator 41 in the vertical direction along the vertical strut.
=
Due to the combined translational displaceability of the vertical strut 30 along longitudinal bars 21, 22 and of receiving block 40 along vertical strut 30, the receiving block can be moved and positioned in two axes within a particular range defined by the dimensions of longitudinal bars 21, 22 and of vertical strut 30.
A bracket 50 extending in the horizontal direction and perpendicularly to the longitudinal bars through receiving block 40 is fixed to receiving block 40. Outside the receiving block, bracket 50 is curved downwards on both sides and two portions 51, 52 of the bracket extend perpendicularly downwards laterally to the outside of longitudinal bars 21, 22. At the end of portions 51, 52 extending perpendicularly downwards, a link chain 61, 62 comprising a plurality of links is attached to the respective ends of the bracket and extends vertically downwards. A holder 71, 72 is disposed at the end of each link chain 61, 62. Holder 71, 72 is adapted to accommodate an ultrasound scanning head 81, 82.
Fig. 6 shows the device according to the invention in a position in which receiving block 40 has been moved to the top end of vertical strut 30. In this position, as can be seen, bracket 50, link chains 61, 62 and holders 71, 72 with the ultrasound scanning heads disposed thereon are arranged above frame 20 and have this been moved out of the accommodation area 10 of the livestock animal. In this position, the livestock animal can
Two longitudinal bars 21, 22 extend parallel and symmetrically to the central longitudinal axis 100 of frame 20, from a front frame bar 23 to a rear frame bar 24 and are securely welded to said two frame bars.
Referring also now to Figures 4 and 5, which show the pregnancy testing device according to the invention without the side walls, it can be seen that a vertical strut 30 is arranged above longitudinal bars 21, 22 and extends in the vertical direction.
Vertical strut 30 can be moved horizontally along longitudinal bars 21, 22.
A receiving block 40 is mounted vertically slideably on vertical strut 30.
Receiving block 40 can be moved by means of an actuator 41 in the vertical direction along the vertical strut.
=
Due to the combined translational displaceability of the vertical strut 30 along longitudinal bars 21, 22 and of receiving block 40 along vertical strut 30, the receiving block can be moved and positioned in two axes within a particular range defined by the dimensions of longitudinal bars 21, 22 and of vertical strut 30.
A bracket 50 extending in the horizontal direction and perpendicularly to the longitudinal bars through receiving block 40 is fixed to receiving block 40. Outside the receiving block, bracket 50 is curved downwards on both sides and two portions 51, 52 of the bracket extend perpendicularly downwards laterally to the outside of longitudinal bars 21, 22. At the end of portions 51, 52 extending perpendicularly downwards, a link chain 61, 62 comprising a plurality of links is attached to the respective ends of the bracket and extends vertically downwards. A holder 71, 72 is disposed at the end of each link chain 61, 62. Holder 71, 72 is adapted to accommodate an ultrasound scanning head 81, 82.
Fig. 6 shows the device according to the invention in a position in which receiving block 40 has been moved to the top end of vertical strut 30. In this position, as can be seen, bracket 50, link chains 61, 62 and holders 71, 72 with the ultrasound scanning heads disposed thereon are arranged above frame 20 and have this been moved out of the accommodation area 10 of the livestock animal. In this position, the livestock animal can
- 12-enter accommodation area 10 without any risk of the pregnancy testing device being damaged.
By lowering receiving block 40 along vertical strut 30 and by moving vertical strut 30 previously, simultaneously or subsequently along longitudinal bars 21, holders 71, 72 with ultrasound scanning heads 81, 82 disposed thereon can be positioned in the region of a desired scanning position at the livestock animal. For the purpose of such positioning, an outline image of the livestock animal can be taken from above or from the side in order to determine the desired scanning position on the basis of an image analysis and previously stored data on appropriate scanning positions. To that end, one or more respective image io recording devices can be fixed to holder 20 or elsewhere on the apparatus according to the invention.
Fig. 7 shows receiving block in a lowered position. In this lowered position, as can be seen, bracket 50 extends downwards into the accommodation area, and link chains 61, 62 disposed on bracket 50 run laterally along the body of the livestock animal.
Bracket 50 is pivotable mounted in receiving block 40 and, as shown by positions 50a,b,c in Fig. 7, can move in such a way, by pivoting about a horizontal axis, that holders 71, 72 at the end of link chains 61, 62 can follow forward or backward movements of the livestock animal.
As can be seen from Fig. 6, in particular, each link chain has comprises a plurality of chain links 61a,b,c,... Each chain link 61a,b,c,... is pivotably connected to the chain link adjacent thereto. This pivotable connection is provided by an axis running horizontally and parallel to longitudinal bars 21, 22. The pivot axes of link chains 61, 62 are close to the outer sides of the chain links, inside the link chain.
A control cable 63, extending from the bottom chain link 61z attached to the holder in the direction of the top chain link 61a and onwards from there through the inner space of bracket 50, also runs inside the link chain. In the region beside receiving block 40, this control cable 63 is guided out of bracket 50 and can be placed under traction by an actuator 42. Actuator 42 places the two control cables running inside link chain 61 and link chain 62 simultaneously under traction. The control cables run close to the inner wall of link chains 61, 62 and are therefore spaced apart from the pivot axes of the chain links in said link chains. Whenever the control cables are placed under traction, this produces a moment that acts about said pivot axes and which leads to the link chain being
By lowering receiving block 40 along vertical strut 30 and by moving vertical strut 30 previously, simultaneously or subsequently along longitudinal bars 21, holders 71, 72 with ultrasound scanning heads 81, 82 disposed thereon can be positioned in the region of a desired scanning position at the livestock animal. For the purpose of such positioning, an outline image of the livestock animal can be taken from above or from the side in order to determine the desired scanning position on the basis of an image analysis and previously stored data on appropriate scanning positions. To that end, one or more respective image io recording devices can be fixed to holder 20 or elsewhere on the apparatus according to the invention.
Fig. 7 shows receiving block in a lowered position. In this lowered position, as can be seen, bracket 50 extends downwards into the accommodation area, and link chains 61, 62 disposed on bracket 50 run laterally along the body of the livestock animal.
Bracket 50 is pivotable mounted in receiving block 40 and, as shown by positions 50a,b,c in Fig. 7, can move in such a way, by pivoting about a horizontal axis, that holders 71, 72 at the end of link chains 61, 62 can follow forward or backward movements of the livestock animal.
As can be seen from Fig. 6, in particular, each link chain has comprises a plurality of chain links 61a,b,c,... Each chain link 61a,b,c,... is pivotably connected to the chain link adjacent thereto. This pivotable connection is provided by an axis running horizontally and parallel to longitudinal bars 21, 22. The pivot axes of link chains 61, 62 are close to the outer sides of the chain links, inside the link chain.
A control cable 63, extending from the bottom chain link 61z attached to the holder in the direction of the top chain link 61a and onwards from there through the inner space of bracket 50, also runs inside the link chain. In the region beside receiving block 40, this control cable 63 is guided out of bracket 50 and can be placed under traction by an actuator 42. Actuator 42 places the two control cables running inside link chain 61 and link chain 62 simultaneously under traction. The control cables run close to the inner wall of link chains 61, 62 and are therefore spaced apart from the pivot axes of the chain links in said link chains. Whenever the control cables are placed under traction, this produces a moment that acts about said pivot axes and which leads to the link chain being
-13-deformed in such a way that it adopts an outwardly convex and therefore inwardly concave shape, and to holders 71,72 moving towards each other in the process.
This deformation of the link chains and movement of the holders, produced by exerting a traction force on the control cables, results in the link chains coming into contact with the body surface of the livestock animal in an almost pressureless manner, and to the holders being guided to the desired scanning position in such a way that the ultrasound scanning heads 81, 82 accommodated inside the holders come into contact with the skin surface.
Fig. 8 shows, in greater detail, holder 71 with an ultrasound scanning head 81 disposed therein. As can be seen, holder 71 includes two blocks 73, 74 made of plastic and defining a recess 75. Blocks 73, 74 are connected to each other by a toggle clamp 76. By opening toggle clamp 76, blocks 73, 74 can be separated from each other, as a result of which recess 75 is divided and ultrasound scanning head 81 can be inserted into the recess. When toggle clamp 76 is subsequently closed again, ultrasound scanning head 81 is securely anchored in holder 71.
Fig. 9 shows a system for using the ultrasound scanning head with a coupling medium.
This system is part of the preferred embodiment of the pregnancy testing device according to the invention. The system has three containers 91 a ¨ c which accommodate a supply of coupling medium and from which said coupling medium is conducted via tubes 92, 93 to dispensing devices 94, 95. Coupling medium can thus be conveyed from containers 91a ¨ c into a slot-shaped cavity in dispensing devices 94, 95. In order to cover the ultrasound scanning heads obtain uniformly yet thriftily with the coupling medium, dispensing devices 94, 95 each have a brush curtain arranged on either side in front of the slot. This brush curtain is used to clean the respective ultrasound scanning head after a completed scan, before it is coated with new coupling medium for a new scan. The coupling medium is conveyed for this purpose into the cavity and thus applied to the ultrasound scanning heads.
Fig. 10 shows ultrasound scanning head 81 inserted into delivery device 94. As can be seen, the ultrasound scanning head touches the brush curtain, is cleaned in the process and then covered afterwards with the coupling medium. When ultrasound scanning head 81 enters the slot in dispensing device 94, a sensor is triggered which causes a hose pump, shown in Fig. 11, to convey coupling medium for a brief period through tubes 92, 93, and thus to the ultrasound scanning head. When the ultrasound scanning head is then removed from the slot, it is sufficiently covered with coupling medium for reliable scanning.
This deformation of the link chains and movement of the holders, produced by exerting a traction force on the control cables, results in the link chains coming into contact with the body surface of the livestock animal in an almost pressureless manner, and to the holders being guided to the desired scanning position in such a way that the ultrasound scanning heads 81, 82 accommodated inside the holders come into contact with the skin surface.
Fig. 8 shows, in greater detail, holder 71 with an ultrasound scanning head 81 disposed therein. As can be seen, holder 71 includes two blocks 73, 74 made of plastic and defining a recess 75. Blocks 73, 74 are connected to each other by a toggle clamp 76. By opening toggle clamp 76, blocks 73, 74 can be separated from each other, as a result of which recess 75 is divided and ultrasound scanning head 81 can be inserted into the recess. When toggle clamp 76 is subsequently closed again, ultrasound scanning head 81 is securely anchored in holder 71.
Fig. 9 shows a system for using the ultrasound scanning head with a coupling medium.
This system is part of the preferred embodiment of the pregnancy testing device according to the invention. The system has three containers 91 a ¨ c which accommodate a supply of coupling medium and from which said coupling medium is conducted via tubes 92, 93 to dispensing devices 94, 95. Coupling medium can thus be conveyed from containers 91a ¨ c into a slot-shaped cavity in dispensing devices 94, 95. In order to cover the ultrasound scanning heads obtain uniformly yet thriftily with the coupling medium, dispensing devices 94, 95 each have a brush curtain arranged on either side in front of the slot. This brush curtain is used to clean the respective ultrasound scanning head after a completed scan, before it is coated with new coupling medium for a new scan. The coupling medium is conveyed for this purpose into the cavity and thus applied to the ultrasound scanning heads.
Fig. 10 shows ultrasound scanning head 81 inserted into delivery device 94. As can be seen, the ultrasound scanning head touches the brush curtain, is cleaned in the process and then covered afterwards with the coupling medium. When ultrasound scanning head 81 enters the slot in dispensing device 94, a sensor is triggered which causes a hose pump, shown in Fig. 11, to convey coupling medium for a brief period through tubes 92, 93, and thus to the ultrasound scanning head. When the ultrasound scanning head is then removed from the slot, it is sufficiently covered with coupling medium for reliable scanning.
- 14-As can be seen from Fig. 6, in particular, dispensing devices 94, 95 are mounted in the region just below longitudinal bars 21, 22, such that ultrasound scanning heads 81, 82 can be inserted into dispensing devices 94, 95 when receiving block 40 is in the raised position.
-15-
Claims (16)
1. A pregnancy testing device for livestock, comprising - an accommodation unit defining an accommodation space for a livestock animal being tested for pregnancy, and - a holder for an ultrasound scanning head connected to a frame which can be moved relative to the accommodation unit - a data evaluation unit connectable to or in signal communication with the ultrasound scanning head.
2. The device according to claim 1, characterised in that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls.
3. The device according to claim 1 or 2, characterised in that the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a vertical strut to which the holder is connected for vertical mobility of the ultrasound scanning head, in particular in such a way that the vertical strut is connected to a bridge which can be moved horizontally along the side walls, and the vertical strut can be moved vertically in conjunction with the ultrasound scanning head to said bridge, or the ultrasound scanning head can be moved vertically along the vertical strut.
4. The device according to any one of the preceding claims, characterised in that the holder is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis lying parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular horizontal and parallel to the side walls defining the accommodation space.
5. The device according to claim 4, characterised in that the link chain can be pivoted about at least a plurality of chain link axes by means of an actuator, preferably by means of a pulling cable which is guided spaced apart within the link chain from the chain link axis and which is connected to an actuator-activated pulling device.
6. The device according to any one of the preceding claims, characterised in that - the holder for the ultrasound scanning head is coupled to an actuator for positioning the ultrasound scanning head at a predetermined place on the body of the livestock animal, - the frame permits relative mobility of the holder for the ultrasound scanning head in at least one axis and - a controller is provided for active positioning and passive repositioning of an ultrasound scanning head held in the holder, said controller being configured to .circle. actively position the holder locally, in a positioning mode, by means of one or more actuators of the frame, in such a way that the frame performs only actuator-activated movements of the holder, and .circle. to guide the holder through the frame in at least one axis, in a scanning mode, in such a freely moveable manner that the holder can passively follow movements made by the livestock animal.
7. The device according to any one of the preceding claims, characterised by a wetting device for feeding a pasty or liquid acoustic coupling medium onto the transmitting and receiving surface of the ultrasound scanning head, said wetting device comprising:
- a reservoir for the acoustic coupling medium, - a connection line for conducting the acoustic coupling medium from the reservoir to a discharge opening and arranged in such a way that acoustic coupling medium exiting the discharge opening is applied to the transmitting and receiving surface of the ultrasound scanning head, and a conveying device for conveying the acoustic coupling medium from the reservoir to the discharge opening.
- a reservoir for the acoustic coupling medium, - a connection line for conducting the acoustic coupling medium from the reservoir to a discharge opening and arranged in such a way that acoustic coupling medium exiting the discharge opening is applied to the transmitting and receiving surface of the ultrasound scanning head, and a conveying device for conveying the acoustic coupling medium from the reservoir to the discharge opening.
8. The device according to any one of the preceding claims, characterised in that - the accommodation unit has two side walls defining an accommodation space for the livestock animal during the test and that the frame has a bridge designed to be moved along said side walls, - a vertical strut is connected to the bridge, - the holder for the ultrasound scanning head is mounted on the end of a link chain comprising a plurality of links, in which chain two respectively adjacent chain links can be pivoted relative to each other about a respective chain link axis running parallel to the longitudinal axis of the livestock animal as defined by the accommodation space, in particular running horizontal and parallel to the side walls defining the accommodation space, - the link chain comprising a plurality of links is displaceably mounted at a variable height on the vertical strut and pivotably about a horizontal repositioning axis extending transversely to the longitudinal axis of the livestock animal, and - the repositioning axis can preferably be locked, in a positioning mode, by means of a positioning and repositioning mechanism, and can be freely moved in a scanning mode.
9. The device according to any one of the preceding claims, characterised by - a two- or three-dimensional image detection device for detecting the contour of a portion of the contour of the livestock animal, - an image analysis unit in signal communication with said image detection device and configured to determine a scanning point or scanning region on the basis of the detected contour or detected contour portion, - a controller for the scanning head holder, said controller being in signal communication with the image analysis unit and in signal communication with one or more actuators for moving the holder for the ultrasound scanning head, and configured to move the holder in such a way that an ultrasound scanning head accommodated therein is guided to the scanning point or into the scanning region.
10. The device according to any one of the preceding claims, characterised by a second holder for a second ultrasound scanning head, said second holder being arranged in such a way relative to the holder for the ultrasound scanning head that the ultrasound scanning head or second ultrasound scanning head respectively accommodated in the holder and in the second holder face each other and are spaced apart in such a way that they can simultaneously detect two opposite scanning points or scanning regions on the livestock animal.
11. The device according to any one of the preceding claims, characterised by a horizontal pivot axis disposed on the holder, by means of which the holder can be pivoted about a horizontal axis lying parallel to the longitudinal axis of the animal and preferably also characterised by a pivot actuator mechanically coupled between the frame and the holder, by means of which the holder can be pivoted about said horizontal pivot axis.
12. A pregnancy testing method for livestock, comprising the steps of:
- receiving the livestock animal in a defined accommodation space, - measuring the contours of the animal by means of a detection device for detecting two- or three-dimensional images - evaluating the animal contour data and determining a scanning point for an ultrasound test based on comparing the animal contour data with stored anatomical data, - guiding an ultrasound scanning head held in a holder to the scanning point by moving the holder relative to the accommodation space by means of a frame, - capturing measurement data by means of the ultrasound scanning head, - evaluating the measurement data by image recognition of features which can be used to distinguish whether the livestock animal is pregnant.
- receiving the livestock animal in a defined accommodation space, - measuring the contours of the animal by means of a detection device for detecting two- or three-dimensional images - evaluating the animal contour data and determining a scanning point for an ultrasound test based on comparing the animal contour data with stored anatomical data, - guiding an ultrasound scanning head held in a holder to the scanning point by moving the holder relative to the accommodation space by means of a frame, - capturing measurement data by means of the ultrasound scanning head, - evaluating the measurement data by image recognition of features which can be used to distinguish whether the livestock animal is pregnant.
13. The method according to claim 12, characterised in that the animal contour is measured by scanning the contour with a laser.
14. The method according to claim 12 or 13, characterised in that the ultrasound scanning head is guided by moving a bridge horizontally, by vertically moving an ultrasound scanning head mounted on the bridge and/or by applying to the body of the livestock animal a link chain comprising a plurality of links and holding the ultrasound scanning head at one end.
15. The method according to claim 14, characterised in that the link chain is placed against the body of the livestock animal by an actuator pivoting chain link axes which pivotably couple adjacent chain links to one another, preferably in that a pulling cable which is guided spaced apart within the link chain from the chain link axis is placed under traction by means of an actuator.
16. The method according to any one of the preceding claims 12 to 15, characterised in that - the holder of the ultrasound scanning head permits relative mobility of the holder for the ultrasound scanning head in at least one axis, and - the ultrasound scanning head is guided and the measurement data are detected by .circle. active positioning of the ultrasound scanning head, in a positioning mode, by means of one or more actuators, the frame performing only actuator-activated movements of the holder, .circle. passive repositioning of the ultrasound scanning head, in a measurement mode, about the at least one axis in such a way that the ultrasound scanning head follows the movements of the livestock animal.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE202010012336.4 | 2010-09-15 | ||
| DE202010012336U DE202010012336U1 (en) | 2010-09-15 | 2010-09-15 | Device for pregnancy detection |
| PCT/EP2011/066031 WO2012035111A1 (en) | 2010-09-15 | 2011-09-15 | Device for detecting gestation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2811344A1 true CA2811344A1 (en) | 2012-03-22 |
Family
ID=44654113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2811344A Abandoned CA2811344A1 (en) | 2010-09-15 | 2011-09-15 | Device for detecting gestation |
Country Status (13)
| Country | Link |
|---|---|
| EP (1) | EP2615978B1 (en) |
| JP (1) | JP2013538100A (en) |
| CN (1) | CN103370011A (en) |
| BR (1) | BR112013005962A2 (en) |
| CA (1) | CA2811344A1 (en) |
| DE (1) | DE202010012336U1 (en) |
| DK (1) | DK2615978T3 (en) |
| EA (1) | EA026963B1 (en) |
| ES (1) | ES2663374T3 (en) |
| HU (1) | HUE035524T2 (en) |
| PL (1) | PL2615978T3 (en) |
| RS (1) | RS56778B1 (en) |
| WO (1) | WO2012035111A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017034391A1 (en) * | 2015-08-21 | 2017-03-02 | Lely Patent N.V. | Method and device to automatically detect calving |
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|---|---|---|---|---|
| DE202012005655U1 (en) * | 2012-06-12 | 2013-09-16 | Big Dutchman Pig Equipment Gmbh | Sow barn for raising livestock |
| DE202012005653U1 (en) | 2012-06-12 | 2013-09-16 | Big Dutchman Pig Equipment Gmbh | Multifunctional unit for carrying out measures on livestock |
| DE102013210936B4 (en) | 2012-06-12 | 2019-10-17 | Big Dutchman International Gmbh | Sowing barn for raising livestock in small group housing |
| DE202012005654U1 (en) | 2012-06-12 | 2013-09-16 | Big Dutchman Pig Equipment Gmbh | Sowing barn for raising livestock in small group housing |
| FR2994828A1 (en) * | 2012-08-31 | 2014-03-07 | Creavia | DEVICE FOR DETECTING AND SIGNALING THE PREPARATORY PHASE FOR CATCH OR EQUINE FIXTURE, CORRESPONDING COMPUTER PROGRAM PRODUCT AND METHOD |
| EP3232772A4 (en) * | 2014-12-15 | 2018-05-16 | Agresearch Limited | Automated body condition score measurement |
| DE102018211034A1 (en) * | 2018-07-04 | 2020-01-09 | Siemens Healthcare Gmbh | Coupling agent dispenser |
| KR102679943B1 (en) * | 2021-12-06 | 2024-07-02 | 대한민국 | Pig pregnancy diagnosis device, pig pregnancy diagnosis system including the same and pig pregnancy diagnosis method therefor |
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| DE3432281A1 (en) | 1984-09-01 | 1986-03-13 | Richard Herberholz Kg, 5600 Wuppertal | SOUND HEAD FOR ECHOLOTON DEVICES FOR IMMEDIATELY EXAMINATION IN ANIMALS |
| CN2030861U (en) * | 1988-04-26 | 1989-01-18 | 孙立 | Supersonic compound type examining instrument for domestic animal gestation |
| DE3905567A1 (en) | 1989-02-23 | 1990-08-30 | Rheintechnik Weiland & Kaspar | ULTRASONIC DEVICE FOR DETERMINING THE VEGETABILITY OF LARGE FEMALE ANIMALS |
| CN2074165U (en) * | 1990-11-07 | 1991-04-03 | 中国人民解放军北京军区后勤部军事防治检验所 | Ultrasonic doppler diagnostic apparatus for livestock pregnancy |
| DE9405822U1 (en) | 1994-04-07 | 1994-09-15 | SONOTEC Dr. zur Horst-Meyer und Münch oHG, 06108 Halle | Device for determining the pregnancy of pets |
| US7073464B2 (en) * | 2004-01-20 | 2006-07-11 | Dbl. 7, Llc | Veterinary height adjustable wet table |
| NL1020148C2 (en) * | 2002-03-11 | 2003-09-18 | Lely Entpr Ag | Device and assembly for an animal related operation. |
| US6998989B2 (en) * | 2002-06-14 | 2006-02-14 | Fagan Robin Christopher Feltri | Enhanced animal handling device |
| DE10232679B4 (en) * | 2002-07-18 | 2004-10-21 | Siemens Ag | Method and device for immobilizing and examining living beings and the use thereof for optical imaging |
| DE10350844A1 (en) * | 2003-10-31 | 2005-06-02 | Westfaliasurge Gmbh | Animal treatment method e.g. for dairy cattle, by identifying the animal, determining if treatment is required, and performing animal-specific treatment |
| GB2416290B (en) * | 2004-12-02 | 2006-07-19 | Michael Holloway | Animal restraining device |
| US20070238991A1 (en) | 2006-01-25 | 2007-10-11 | Jaltec Biomedical Inc. | Ultrasound method and apparatus for characterizing and identifying biological tissues |
-
2010
- 2010-09-15 DE DE202010012336U patent/DE202010012336U1/en not_active Expired - Lifetime
-
2011
- 2011-09-15 CA CA2811344A patent/CA2811344A1/en not_active Abandoned
- 2011-09-15 RS RS20180059A patent/RS56778B1/en unknown
- 2011-09-15 ES ES11758196.7T patent/ES2663374T3/en active Active
- 2011-09-15 HU HUE11758196A patent/HUE035524T2/en unknown
- 2011-09-15 JP JP2013528674A patent/JP2013538100A/en not_active Withdrawn
- 2011-09-15 WO PCT/EP2011/066031 patent/WO2012035111A1/en active Application Filing
- 2011-09-15 CN CN2011800549282A patent/CN103370011A/en active Pending
- 2011-09-15 BR BR112013005962A patent/BR112013005962A2/en not_active Application Discontinuation
- 2011-09-15 PL PL11758196T patent/PL2615978T3/en unknown
- 2011-09-15 EP EP11758196.7A patent/EP2615978B1/en active Active
- 2011-09-15 DK DK11758196.7T patent/DK2615978T3/en active
- 2011-09-15 EA EA201390378A patent/EA026963B1/en not_active IP Right Cessation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017034391A1 (en) * | 2015-08-21 | 2017-03-02 | Lely Patent N.V. | Method and device to automatically detect calving |
| NL2015326B1 (en) * | 2015-08-21 | 2017-03-13 | Lely Patent Nv | Method and device to automatically detect calving. |
| US10687927B2 (en) | 2015-08-21 | 2020-06-23 | Lely Patent N.V. | Method and device to automatically detect calving |
| EP3337422B1 (en) | 2015-08-21 | 2022-04-20 | Lely Patent N.V. | Method and device to automatically detect calving |
Also Published As
| Publication number | Publication date |
|---|---|
| RS56778B1 (en) | 2018-04-30 |
| PL2615978T3 (en) | 2018-05-30 |
| CN103370011A (en) | 2013-10-23 |
| EP2615978A1 (en) | 2013-07-24 |
| WO2012035111A1 (en) | 2012-03-22 |
| DK2615978T3 (en) | 2018-01-29 |
| EP2615978B1 (en) | 2017-12-20 |
| ES2663374T3 (en) | 2018-04-12 |
| EA026963B1 (en) | 2017-06-30 |
| JP2013538100A (en) | 2013-10-10 |
| HUE035524T2 (en) | 2018-05-02 |
| BR112013005962A2 (en) | 2016-05-03 |
| DE202010012336U1 (en) | 2012-01-02 |
| EA201390378A1 (en) | 2013-08-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20160303 |
|
| FZDE | Discontinued |
Effective date: 20210831 |
|
| FZDE | Discontinued |
Effective date: 20210831 |