CN102088914B - 带有信号反馈的模块化工具 - Google Patents
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Abstract
在本公开中描述了模块化工具的实现方式和操作模块化工具的方法。根据若干可能实施例中的一个的模块化工具包括手柄部分和远侧部分。手柄部分构成为由用户操纵。远侧部分构成为附连到手柄部分,但是还构成为可由用户从手柄部分拆卸。手柄部分的操纵引起远侧部分的一个或更多个部件的运动。远侧部分还构成为感测一个或更多个参数并且将感测到的参数传输到手柄部分。
Description
技术领域
本公开的实施例一般涉及模块化工具,尤其涉及模块化工具的不同部分之间的机械和电连接。
背景技术
在外科领域中,开放式外科程序涉及在患者的腹部中制造较大的切口,允许外科医生接近各种器官。在另一方面,腹腔镜外科程序涉及通过一个或更多个小切口接近器官,使得这些程序比开放式手术创伤更小。由于腹腔镜程序是微创的,因此典型地减少了住院时间,患者需要更少的治疗,患者经受更少的疼痛,减少了瘢痕,并且减小了并发症的可能性。
在腹腔镜程序中,可以通过切口将微型照相机引入患者体内。照相机将图像传输到视频监视器,使得外科医生能够察看患者的器官,以便进行诊断并且在需要时治疗患者。外科医生也可以通过一个或更多个附加的小切口引入外科器械和辅助装置,例如灌注和引流装置。
关于外科工具的使用的一个难题是消毒,原因是为了在手术环境中使用,外科工具必须是无菌的。一种观点是总是使用一次性,然后被丢弃的工具。尽管这看上去浪费,但是该方法有一些好处。例如,外科医生可以确信新工具将是无菌的。新工具处于它们有效期的初期,因此更可靠。在其它优点中,可以减小医院的责任,原因是基本消除了病原体从一个患者转移到另一个患者。
另一种观点是许多工具可以在使用后被消毒,因此被再使用。特别地,该方法对于更昂贵的工具或很可靠的那些工具是有利的。通过消毒工具,可以使浪费最小化。一些工具可以进行高压蒸汽灭菌,高压蒸汽灭菌是包括将工具暴露于杀灭工具上的任何生物体的高压和高温蒸汽的消毒程序。然而,由于只能高压蒸汽灭菌某些类型的工具,例如不锈钢工具,因此应当使用其它方法对其它工具进行消毒。例如,包含对热或湿气敏感的部分(例如电子电路)的工具常常可以使用其它消毒程序进行消毒。然而,消毒方法的困难在于将需要医院在医院中有专门的设备用于消毒操作,并且必须按照有效的计划安排以保证消毒程序的适当实施。
基于上述两个观点的优点和缺点,在使用一次性工具和使用可以在使用后消毒的工具的概念之间有折衷。可以在一次性工具和可再使用工具之间进行折衷,在本文中被称为“可再使用一次性(reposable)”工具。可再使用一次性工具被设计为使得工具的一部分是一次性的,并且工具的一部分是可再使用的。
发明内容
本公开描述了模块化工具的实施例,并且还描述了操作模块化工具的方法。在一个实施例中,除了别的以外,一种模块化工具包括手柄部分和远侧部分,其中所述远侧部分构成为附连到所述手柄部分。所述手柄部分构成为由用户操纵。尽管所述远侧部分可以附连到所述手柄部分,但是它还构成为可由用户从所述手柄部分拆卸。所述手柄部分的操纵引起所述远侧部分的一个或更多个部件的运动。所述远侧部分还构成为感测一个或更多个参数,并且将感测到的参数传输到所述手柄部分。
本领域的普通技术人员通过分析以下详细描述和附图将显而易见未在本文中明确公开的本公开的其它特征、优点和实现方式。本公开的这种隐含实现方式应当包括在本文中。
附图说明
附图的部件被示出以强调本公开的一般原理,并且不一定按比例绘制。为了一致性和清楚起见,必要时,在所有附图中表示相应部件的参考符号被重复。
图1是示出根据一个实施例的模块化工具的示意图。
图2A和2B是示出根据一个实施例的图1中所示的接口部分的示意图。
图3是根据一个实施例的操作模块化工具的方法的流程图。
具体实施方式
执行腹腔镜程序的外科医生通常不能直接察看外科器械与患者的组织和器官之间的相互作用。然而,通过插入图像捕捉装置来观察工具的远端,外科医生可以依赖视觉反馈来识别患者的解剖结构。为了在腹腔镜程序中获得更大的成功机会,外科医生应当灵巧地和灵敏地操纵外科工具。在一些情况下,工具的远端可以包括将多模式(即,视觉、听觉和/或触觉)反馈提供给外科医生的传感器。通过该多模式反馈,外科医生可以更好地监视由工具施加的力,以减小对组织和器官的损伤和创伤,由此减小与腹腔镜程序关联的并发症。
与外科程序的成功相关的另一个方面是器械的适当消毒。关于可再使用一次性工具,可再使用一次性工具的一个或更多个部分可以在使用后被消毒和再使用,而工具的一个或更多个其它部分可以被丢弃。因此,可再使用一次性工具包括不同部分,所述不同部分可以被装配在一起,用作装配工具,然后彼此断开连接。可再使用部分被消毒以供进一步使用,一次性部分被扔掉。可再使用一次性工具的许多优点之一在于不同部分可以以许多可能的组合被装配。例如,取决于外科医生的偏好,某些手柄部分可以被选择并且可以用于某些远侧部分,所述远侧部分包含被设计为作用于组织和器官的元件。因此,各种末端或尖端可以连接到各种手柄,以产生模块化工具的不同组合。
对于可以被消毒以供日后使用的模块化工具的部分,取决于所述部分的特定设计和包含在所述部分中的材料或部件,可以使用任何合适类型的消毒程序。例如,手柄部分可以包括可能对热和/或湿气敏感的电子电路。因此,在该情况下,热蒸汽消毒可能不是可接受的方式,除非敏感部分覆盖或密封有合适的保护装置。也可以使用其它的消毒方法,例如将可再使用部分暴露于环氧乙烷、使用过氧化氢气体等离子技术、伽马辐射、电子束辐射等。
本公开的实施例描述了模块化工具的不同部分可以被装配在一起,以形成可再使用工具。在一些实施例中,接口部分或适配器在中间连接在手柄部分和远侧部分之间。无论设计为带有还是不带有接口部分,本文中的实施例允许手柄部分和远侧部分之间的连接。具体地,连接采用从手柄部分机械平移到远侧部分的一个或更多个部件的形式。这样,外科医生可以以这样的方式操纵手柄,使得引起远侧部分对组织和器官执行特定功能。另外,本文中所述的连接包括手柄部分和远侧部分之间的电连接。例如,电连接可以包括将高电压从手柄部分提供给远侧部分,例如用于烧灼。电连接也可以包括将低电压(例如大约5V)从手柄部分提供给远侧部分。当需要时,该电压可以用于为远侧部分的感测元件提供电力。此外,电连接包括将代表在远侧部分的感测到的参数的传感器信号从远侧部分传输到手柄部分。
尽管本文中所述的许多例子涉及模块化外科工具,并且尤其涉及模块化腹腔镜外科工具,但是应当理解,本公开的教导也包含任何合适类型的模块化手动工具。本领域的普通技术人员从本公开的理解将显而易见其它实现方式和优点。
图1是示出具有至少两个部分的模块化工具10的实施例的示意图。特别地,模块化工具10在图1中被显示为模块化的腹腔镜外科工具。然而,在其它实施例中,模块化工具10可以构成为用于执行任何形式功能的任何类型的模块化手动工具,并且还被设计为带有用于机械地平移力以及在手柄部分与远侧部分之间电连通信号的合适装置。
在图1的实施例中,模块化工具10包括手柄部分12,适配器或接口部分14,和远侧部分16。在一些实施例中,接口部分14可以被省略,使得手柄部分12可以直接连接到远侧部分16。在其它实施例中,如下面更详细所述的接口部分14的元件可以部分或完全结合到手柄部分12和/或远侧部分16中。手柄部分12、接口部分14和远侧部分16可以附连在一起,以形成模块化工具10。当附连时,可以根据设计使用模块化工具10。在使用后,手柄部分12,接口部分14和/或远侧部分16可以从其它部分被拆卸或断开连接。在一个部分(例如远侧部分16)是一次性物品的情况下,该部分可以从模块化工具10被拆卸和丢弃。
模块化工具10被设计为使得可以从更多个手柄部分选择手柄部分12。而且,可以从更多个远侧部分选择远侧部分16。通过不同的手柄部分和远侧部分之间的兼容互连,取决于用户的特殊偏好或需要,用户可以以许多组合连接所述部分。接口部分14可以用于连接不同系列或类别的手柄部分与不同系列或类别的远侧部分。然而,在一些实施例中,手柄部分和远侧部分可以被设计为使得它们可以使用单一接口部分14彼此连接,所述单一接口部分具有用于所有类型的手柄部分和远侧部分的通用设计。
当用户物理地操纵手柄部分12时,施加到手柄部分12的机械力被平移以引起远侧部分16的一个或更多个部件的运动。当需要时,该机械平移通过或借助于接口部分14被传递。此外,在远侧部分16感测的参数可以被电传输回到手柄部分12。可以由远侧部分16感测的参数的类型例如可以包括光学图像、压力、力、温度、生物信息、挠性、组织识别、尖端阻力、轨迹信息、多普勒信息、有源或无源压电换能器(“PZT”)信息、聚偏二氟乙烯(“PVDF”)传感器信息、应变计量度、超声等。
当需要时,手柄部分12可以包括某些处理元件,例如滤波器、分析电路、放大器等。而且,手柄部分12可以包括用于显示感测到的参数的显示装置。另外,手柄部分12可以包括触觉致动器,例如振动触觉致动器、动觉致动器、可变形表面致动器、电磁致动器、偏心旋转质量(“ERM”)、线性共振致动器(“LRA”)、“智能材料”、压电材料、电活化聚合物、形状记忆合金等。通过触觉致动器,手柄部分12可以引起对用户手的触觉效应。而且,手柄部分12可以包括手柄安装传感器,例如用户抓握力传感器、抓握角度传感器等。
在一些实施例中,手柄部分12可以包括构成为将无线信号传输到远程触觉致动装置的无线发射器。在这方面,来自远侧部分16的信号可以被传输到用于致动用户甚至另一个人的触觉效应的远程装置。例如,信号可以被传输到位于外科医生身上的安装在身体上的致动器组件,例如围绕外科医生的手腕、在大褂内部等。安装在身体上的致动器不必需要是无菌的。这样的无线传输可以用于短程连通,例如使用或其它类似技术。
当需要时,手柄部分12可以将电力提供给远侧部分16以为远侧部分16的任何传感器提供电力。例如,低电压(例如5V)可以足以为许多感测元件提供电力。在该情况下,手柄部分12可以包括内部电源,例如可再充电电池。当为远侧部分16的传感器提供电力时,远侧部分16也可以将来自各自传感器的信号传输回到手柄部分12。响应于从远侧部分16接收的反馈信号,手柄部分可以处理信号,从而以任何合适的方式向用户指示结果。例如,手柄部分12可以包括引起用户的触觉效应的触觉致动器。在附加或可替换的例子中,手柄部分12也可以包括用于视觉地显示远侧部分16的传感器结果的显示装置。通过将电源包含在手柄部分12中,当需要时,电源可以将电力供应到关于手柄部分12保持的各种输出装置,例如触觉致动器,显示装置等。
在一些实施例中,手柄部分12也可以将大量的AC或DC电力提供给远侧部分16。例如,当模块化工具10用作烧灼装置时,可能需要大约50瓦的电力来烧灼器官。通过能够供应这样的高电力,模块化工具10包括适当的绝缘材料,以最小化高电力与其它电子设备的串扰或电磁干扰。对于烧灼,外部电源可以与模块化工具10结合使用,以提供适当的电量。在该情况下,外部电源可以构成为经由手柄部分12和/或接口部分14上的任何合适的连接机构将电力提供给远侧部分16。
远侧部分16可以包括用于执行许多功能的任何合适类型的尖端或末端件。例如,关于外科工具,远侧部分16可以包括夹子、抓紧器、钳子、剪刀、烧灼器、组织识别探针、尖端阻力传感器,轨迹传感器、多普勒传感器、有源或无源PZT传感器、PVDF应变计、超声检测器、血流传感器、脉搏传感器、温度传感器、用于监测其它患者生机的传感器等。非外科远侧部分16的元件的一些例子可以包括钻头、螺丝刀、锯、锤子等。
图2A和2B是图1中所示的接口部分14的实施例的示意图,其中图2A是接口部分14的端视图,并且图2B是接口部分14的横截面侧视图。在该实施例中,接口部分14包括基底18,所述基底包含用于为其它元件提供支撑的任何合适的材料。在一些实施例中,基底18被形成为具有中空柱形轴,所述中空柱形轴具有大约2-3cm的长度和大约2-3cm的直径。接口部分14也包括电力导线20、信号连通导线22、处理装置24、传感器26、绝缘材料28,和闩锁机构30。绝缘材料28在基底18和与接口部分14同轴形成的柱形通道32之间形成层。
通常,接口部分14被设计为适配器,以连接到手柄部分12和远侧部分16,从而提供支撑,以便形成可以根据设计被使用的相对刚性的模块化工具10。而且,接口部分14是机电接口装置,其被设计为使得手柄部分12和远侧部分16之间能够形成机械平移和电连通。接口部分14允许通过通道32的机械和高压电连接到远侧部分16。在一些实施例中,可以连接到具有3mm、5mm或10mm的标准直径尺寸的腹腔镜尖端。可以选择许多手柄部分中的一个,以用于与许多远侧部分中的一个附连。手柄部分12和远侧部分16的选择可以基于外科医生的偏好或支持手柄部分、接口部分和/或远侧部分的技术进步。可以通过接口部分14附连被选择的部分。
在图2中示出了两个电力导线20,其中两个电力导线之间的电位差在完成电路的远侧部分16的终端传感器处产生电流。然而,在一些实施例中,根据不同类型的传感器的需要,一对以上的电力导线可以被结合在接口部分14中,以用于为远侧部分16中的附加传感器提供电力和/或用于供应不同电压或电流水平。类似地,在图2中示出了用于产生电路的两个信号连通导线22,信号可以沿着所述电路在手柄部分12与远侧部分16之间传输。电力导线20,信号连通导线22和接口部分14的任何其它导线可以被嵌入基底中,所述基底可以充当所述导线的绝缘体。而且,这些导线沿着接口部分14的长度延伸,以将信号或电力从一端传输到另一端。
接口部分14可以包括任何合适的接触元件,以便在手柄部分12和/或远侧部分16的导线与导线20和导线22的接触元件之间产生充分电连接。例如,接触元件可以包括弹簧接触、相应的阳连接器和阴连接器接触等。而且,接触元件和导线可以用于运载数字和/或模拟信号。与通过通道32传输的高电压信号相比,导线20和22可以被设计为运载低电压信号。在一些实施例中,低电压可以为大约5V。
取决于特定用途,处理装置24可以是通用或专用处理器或微控制器。在一些实施例中,可以使用离散逻辑电路、专用集成电路(ASIC)、可编程门阵列(PGA)、现场可编程门阵列(FPGA)等或它们的任何组合实现处理装置24。
传感器26可以被实施,以检测与接口部分14关联的许多参数。显示了仅仅用于示例性目的的两个传感器26,但是应当认识到,可以根据需要和取决于特定设计,在接口部分14中包含任何数量的传感器26。在一些实施例中,一个或更多个传感器26可以构成为轴传感器。例如,传感器可以包括当远侧部分16的轴插入通道32中或从通道32中被去除时,用于监测轴位置的光学编码器。传感器26也可以构成为感应传感器,当高电流流过烧灼器或插入通道32中的其它类似高电力装置时,该感应传感器用于监测。
定位在基底18和通道32之间的绝缘材料28的层构成为最小化或消除流过通道32的高电力或电流的串扰或电磁干扰。例如,当模块化工具10构成为烧灼装置或其中高电力从手柄部分12传导到远侧部分16的其它类似工具时,绝缘材料28使其它导线(例如低电压导线20和22)与通道32中的高电力烧灼器绝缘。
通常,闩锁机构30可以包括任何合适的结构并且在图2A中示出,以简单地表达使接口部分14与手柄部分12和/或远侧部分16之一或两者在物理上闩锁的概念。闩锁机构30位于接口部分14的两端,以便与手柄部分12和远侧部分16两者装配。类似地,手柄部分12和远侧部分16包括用于使所述部分能够接合在一起的兼容闩锁装置。尽管显示了四个闩锁机构30,应当认识到,任何数量的闩锁机构30可以包括在接口部分14的每一端上。闩锁机构30可以以任何合适的方式构成为具有任何合适的尺寸或形状,并且可以用于将不同部分连接在一起,以形成模块化工具10。闩锁机构30被设计为提供足够的强度和稳定性,以允许模块化工具10的用户容易地和有效地执行预期功能,而不会在使用期间出现所述部分的意外断开连接。
此外,闩锁机构30被设计为适当地将手柄部分12和/或远侧部分16的导线的接触元件与接口部分14的相应接触元件和导线对准。通过适当对准,当需要时,手柄部分12和远侧部分16的电力导线可以连接到接口部分14的电力导线20,以便适当地供应电力。而且,信号连通导线22可以在手柄部分12和远侧部分16的相应信号连通导线之间适当地运载信号。应当注意的是,手柄部分12和远侧部分16可以被设计为包括用于接合接口部分14的闩锁机构30的相应闩锁部件,以便将所述部分适当地闩锁在一起。
通道32被设计为允许手柄部分12和远侧部分16之间的机械连接。例如,远侧部分16可以包括杆,所述杆通过通道32被插入并且连接到用于平移机械力的相应机构。
取决于接口部分14的特定需要或设计,接口部分14可以包括多个或几个元件。例如,接口部分14还可以包括用于数字连通的数字接口或集成感测。接口部分14可以构成为支撑远侧部分16的不同类型的轴和传感器。因此,接口部分14可以包括任何合适的形状或设计,当需要时,具有不同尺寸或形状的通道32以用于特定类型的轴和传感器。
图3是显示操作模块化工具的方法的实施例的流程图。在该实施例中,该方法包括提供可以被装配为模块化工具的不同工具部分,如方框34中所示。在一个实施例中,模块化工具包括手柄部分和远侧部分,其中手柄部分的一个或更多个部件的操纵引起远侧部分的一个或更多个部件的运动。根据本文所述的许多实施例,该方法可以包括提供接口部分,所述接口部分将与手柄部分和远侧部分装配,并且定位在两个其它部分之间。在这方面,接口部分可以用于连接不同类型的手柄部分与不同类型的远侧部分。
如方框36中所示,模块化工具对施加在工具上的力(例如由用户施加的力)作出反应。响应于模块化工具的第一部分(例如手柄部分)的机械操纵,机械力被平移到模块化工具的第二部分(例如远侧部分)。如方框38中所示,在模块化工具的第二部分感测一个或更多个参数。如方框40中所示,将感测到的参数从模块化工具的第二部分电传输到模块化工具的第一部分。在一些实施例中,图3的方法还可以包括以任何合适的方式利用在手柄部分的信号。例如,信号可以用于将感测到的参数显示在显示装置上和/或可以用于通过与手柄部分关联的触觉致动装置致动触觉效应。
因此,应当认识到,包括可以连接在一起并且可以彼此拆卸的部分的模块化工具包括所述工具的部分之间的机械和电连接。通过这样的方法,有可能互换模块化工具的许多手柄部分和许多远侧部分。这允许用户在基于偏好和/或需要来选择不同类型的手柄部分和远侧部分方面具有大的灵活性。在操纵手柄部分引起远侧部分机械地反应时,远侧部分也可以感测一个或更多个参数,所述参数可以被传输回到手柄部分,以便向用户指示感测到的参数。应当理解的是,本领域的普通技术人员会明白,本文中所述的一个或更多个步骤、过程和/或操作可以基本上同时或以不同于明确所述的顺序执行。
本文中所述的实施例代表许多实现方式的例子并且不一定将本公开限制为任何具体实施例。相反地,本领域的普通技术人员应当理解,可以对这些实施例进行各种修改。任何这样的修改应当包括在本公开的精神和范围内并且受到以下权利要求书的保护。
Claims (18)
1.一种模块化腹腔镜手动工具,该模块化腹腔镜手动工具包括:
手柄部分,其构成为由用户操纵;
远侧部分,其构成为附连到所述手柄部分,所述远侧部分还构成为能够由用户从所述手柄部分拆卸;以及
接口机构,所述接口机构用于在该模块化腹腔镜手动工具的远侧部分和手柄部分之间附连,该接口机构包括:
由柱形轴部形成的基底;
用于将所述由柱形轴部形成的基底闩锁到模块化腹腔镜手动
工具的手柄部分的装置;
用于将所述由柱形轴部形成的基底闩锁到所述模块化腹腔镜
手动工具的远侧部分的装置;和
用于通过接口机构将电信号从所述远侧部分传导到所述手柄
部分的装置,
其中,所述手柄部分的操纵引起所述远侧部分的一个或更多个部件的运动;并且
其中,所述远侧部分还构成为感测一个或更多个物理性质,并且将感测到的物理性质传输到所述手柄部分。
2.根据权利要求1所述的模块化腹腔镜手动工具,其特征在于,所述接口机构使得用户能够将不同类型的手柄部分与不同类型的远侧部分附连。
3.根据权利要求2所述的模块化腹腔镜手动工具,其特征在于,所述接口机构构成为在所述手柄部分和所述远侧部分之间平移机械力。
4.根据权利要求2所述的模块化腹腔镜手动工具,其特征在于,所述接口机构构成为在所述手柄部分和所述远侧部分之间连通电信号。
5.根据权利要求4所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分构成为将相对小的电压供应到所述远侧部分,以便为所述远侧部分的一个或更多个传感器提供电力,所述一个或更多个传感器构成为感测所述一个或更多个物理性质。
6.根据权利要求4所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分构成为将相对高的电压供应到所述远侧部分。
7.根据权利要求6所述的模块化腹腔镜手动工具,其特征在于,所述远侧部分构成为使用高电压进行烧灼。
8.根据权利要求1所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分包括用于将感测到的参数无线连通到远程装置的无线传输装置。
9.根据权利要求1所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分是可再使用的并且所述远侧部分是一次性的,并且所述远侧部分在使用后能够从所述手柄部分被拆卸并丢弃。
10.根据权利要求1所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分包括触觉致动器,所述触觉致动器构成为响应于从所述远侧部分传输的信号来引起用户的触觉效应。
11.根据权利要求1所述的模块化腹腔镜手动工具,其特征在于,所述手柄部分包括显示装置,所述显示装置构成为显示一个或更多个感测到的参数的值。
12.一种模块化腹腔镜手动工具的接口机构,所述接口机构用于在该模块化腹腔镜手动工具的远侧部分和手柄部分之间附连,该接口机构包括:
由柱形轴部形成的基底;
用于将所述由柱形轴部形成的基底闩锁到模块化腹腔镜手动工具的手柄部分的装置;
用于将所述由柱形轴部形成的基底闩锁到所述模块化腹腔镜手动工具的远侧部分的装置;和
用于通过接口机构将电信号从所述远侧部分传导到所述手柄部分的装置。
13.根据权利要求12所述的接口机构,还包括通过所述柱形轴部的通道,所述手柄部分和所述远侧部分之间的机械连接能够在所述通道中形成,其中,所述手柄部分的一个或更多个部件的运动通过所述机械连接引起所述远侧部分的一个或更多个部件的运动。
14.根据权利要求13所述的接口机构,还包括轴传感器,所述轴传感器构成为当所述远侧部分的轴被插入所述通道中时,检测所述远侧部分的轴的存在。
15.根据权利要求13所述的接口机构,还包括定位在所述由柱形轴部形成的基底和所述通道之间的绝缘材料的层,其中,所述绝缘材料构成为使来自流过所述通道的高电力的电磁干扰最小化。
16.根据权利要求12所述的接口机构,其特征在于,用于传导电信号的装置包括一对电导线,所述电导线嵌入所述由柱形轴部形成的基底中,并且沿着所述接口机构的长度延伸。
17.根据权利要求12所述的接口机构,还包括用于将电力从所述手柄部分供应到所述远侧部分的装置。
18.根据权利要求17所述的接口机构,其特征在于,用于供应电力的装置包括一对电导线,所述电导线嵌入所述由柱形轴部形成的基底中并且沿着所述接口机构的长度延伸。
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- 2009-05-12 EP EP09789663.3A patent/EP2323564B1/en not_active Not-in-force
- 2009-05-12 CN CN2009801274580A patent/CN102088914B/zh not_active Expired - Fee Related
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2014
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US8834465B2 (en) | 2014-09-16 |
EP2323564B1 (en) | 2013-07-10 |
JP2014204981A (ja) | 2014-10-30 |
JP5766116B2 (ja) | 2015-08-19 |
JP5841184B2 (ja) | 2016-01-13 |
CN102088914A (zh) | 2011-06-08 |
EP2323564A1 (en) | 2011-05-25 |
WO2010008663A1 (en) | 2010-01-21 |
JP2011528261A (ja) | 2011-11-17 |
US20100016855A1 (en) | 2010-01-21 |
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