CN103702637A - 修正关节盂的装置和方法 - Google Patents
修正关节盂的装置和方法 Download PDFInfo
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Abstract
本发明公开了一种在修正肩关节成形术中使用的套件,所述套件具有至少一个修正关节盂部件以及用于在关节盂中准备腔体的扩孔钻。所述修正关节盂部件具有基座部件,所述基座部件具有限定第一圆形外周边的唇缘和限定第二圆形外周边的底部表面。所述扩孔钻具有扩孔钻部分,所述扩孔钻部分被成型为与所述基座部件互补并且稍大于所述基座部件,使得当使用所述扩孔钻在所述关节盂中形成腔体时,所述基座部件配合在所述腔体内而无需被压入配合到所述腔体中。
Description
相关专利申请的交叉引用
本专利申请涉及提交于2011年3月18日的名称为“Circular GlenoidMethod for Shoulder Arthroscopy”的美国专利申请序列号13/051,011、提交于2011年3月18日的名称为“Combination Reamer/Drill Bit for ShoulderArthroscopy”的美国专利申请序列号13/051,026以及也提交于2011年3月18日的名称为“Device and Method for Retroversion Correction Cone forShoulder Arthroscopy”的美国专利申请序列号13/051,041,所述专利申请的内容各自以引用的方式并入本文。
技术领域
本发明整体涉及整形外科领域,并且更具体地讲涉及用于肩关节成形术的关节盂部件设备以及使用它们的方法。
背景技术
如图1所绘,典型的肩关节或盂肱关节形成于人体中的其中肱骨10可运动地接触肩胛骨12的位置。肩胛骨12包括形成承窝的关节窝14,肱骨10的头部抵靠所述承窝而作关节运动。在该承窝处,肩胛骨12包括有助于这种关节运动的软骨16。在软骨之下为形成关节盂穹窿20的壁的软骨下骨18,该壁限定容纳松质骨22的腔体。形成关节盂穹窿20的软骨下骨18限定关节盂穹窿20的周边处的关节盂缘24,关节盂缘附接到软骨16。在患者的一生中,关节窝14尤其是其后部和/或上部逐渐磨损,从而导致剧烈的肩痛并限制患者的肩关节的运动范围。为了缓解这种疼痛并增大患者的运动范围,可执行肩关节成形术。关节成形术为利用一个或多个假体对关节的一个或多个骨结构进行外科置换。
肩关节成形术通常涉及利用假体关节盂部件来置换肩胛骨的关节窝。常规关节盂部件通常提供大致侧向的或面向外的大致凹型的支承表面,支承表面可在关节操作期间支承假体肱骨头(或作为另外一种选择,关节盂半关节成形术情况下的剩余自然肱骨头)。常规关节盂部件通常还包括大致内侧的或者向内突出的颈,所述颈用于将关节盂部件固定在腔体中,所述腔体通过适当切除关节窝14以及从关节盂穹窿20适当切除骨松质22而构造成。
肩关节成形术的目标在于恢复肩关节的正常运动学。因此,已知系统尝试通过谨慎地控制关节中的关节运动表面的几何形状以及将假体谨慎地定位在其中将植入该假体的骨中来复制正常运动学。因此,肱骨部件的关节运动表面通常为球形的,并且通过使用肱骨的解剖颈作为重构的肱骨头的参考平面来完成肱骨部件的定位。
在已知系统中,关节盂部件定位在关节窝的几何中心。通过产生从关节盂缘的最上点到关节盂缘的最下点的线(“Saller线”)来确定几何中心。在关节盂缘的最后点与关节盂缘的最前点之间产生第二线。将两个所产生的线的交叉点视为由关节盂缘外接的区域的几何中心。以举例的方式,图2描绘了肩胛骨12的矢状位。在图2中,Saller线30在关节盂缘24的最上点32与关节盂缘24的最下点34之间延伸。第二线36从关节盂缘24的最后点38延伸至关节盂缘的最前点40。关节窝14的几何中心42位于线36和Saller线30的交叉点处。除非另外具体描述,否则本文所用的术语前、后、上和下均相对于图2所示的肩胛骨12的取向使用。
随着时间推移,植入的关节盂部件可能变得松动。松动的部件可能导致个体的疼痛加剧。然而,要纠正该问题可能存在问题。例如,由于存在多种不同的关节盂缺陷,因此对松动的部件进行置换可能很复杂。关节盂缺陷可分类为中心式(关节窝中心区域中的空隙区)、周边式(关节盂缘区域中的空隙区)、或组合式(从关节窝的中心区域延伸到关节盂缘区域的空隙区)缺陷。在存在轻微或中度缺陷的情况下,特别是当仅限于中心区域时,部件的置换可使用已知的部件(在进行或不进行骨移植的情况下)以填充剩余的空隙区而完成。然而,在涉及大的中心缺陷和组合式缺陷的情况下,需要进行其他手术,例如异体移植术。一旦已将移植材料结合到关节盂中,便进行二次外科手术以将置换部件植入到同种异体移植物中。
移植程序的替代形式是针对具体的患者缺陷来定制部件。当然,定制增加了给定程序的成本。此外,当每个程序是独一无二的时,要获得可重复的结果是困难的。
仍存在对于允许在修正手术中建立正常运动学的关节盂部件的需求。还存在对于技术、器械、以及甚至当关节盂具有多种缺陷时使这种部件的定位变得容易的植入物的需求。还需要如下的关节盂部件,其可按减少需要被移除的骨的量而不过度地使植入程序复杂化的方式来定位。
发明内容
在一个实施例中,本发明提供了一种植入修正关节盂部件的方法,所述方法包括进入肩胛骨中的先前植入的关节盂部件、移除所述先前植入的关节盂部件、识别肩胛骨的下关节盂圆心、准备肩胛骨的关节窝以容纳修正关节盂部件、选择修正关节盂部件、以及基于在所准备的关节窝中的识别的下关节盂圆心来植入选择的修正关节盂部件。
在另一个实施例中,植入修正关节盂部件的方法包括获得肩胛骨的图像、基于所述图像来识别肩胛骨的下关节盂圆心、选择修正关节盂部件、从肩胛骨移除先前植入的关节盂部件、准备肩胛骨的关节窝以容纳假体、以及基于所识别的下关节盂圆心而在所准备的关节窝中植入选择的修正关节盂部件。
对于本领域的技术人员而言,通过参考包括目前设想出的制备和使用本发明的最佳模式的公开内容的下述详细说明和附图,本发明的上述特征和优点、以及附加特征和优点将为极其显而易见的。
附图说明
图1描绘了解剖学上正常的肩关节的冠状视图;
图2描绘了图1的肩关节的矢状位;
图3描绘了根据本发明的原理的可植入肩胛骨中的后倾关节盂部件的前透视图;
图4描绘了根据本发明的原理的可植入肩胛骨中的图3的后倾关节盂部件的基座的前透视图;
图5描绘了图3的后倾关节盂部件的基座的顶部平面图;
图6描绘了图3的后倾关节盂部件的基座的侧剖视图;
图7描绘了图3的后倾关节盂部件的关节运动部件的前透视图;
图8描绘了图3的后倾关节盂部件的关节运动部件的侧剖视图;
图9描绘了图3的后倾关节盂部件的侧剖视图;
图10描绘了可使用套件将图3的后倾关节盂部件基座植入肩胛骨中的医疗程序,所述套件包括导向销和组合式扩孔/刨削工具;
图11描绘了具有植入的关节盂部件的肩胛骨的矢状位,所述植入的关节盂部件表现出导致植入的关节盂部件发生不可取的运动的严重中心骨损耗并且已根据图10的所述程序进入所述关节盂部件;
图12描绘了在已移除先前植入的关节盂部件之后的图11的肩胛骨的矢状位;
图13描绘了图11的肩胛骨的前透视图,其中导向销放置导引器被定位成对导向销的放置进行引导,使得导向销与肩胛骨的关节盂轴线对齐;
图14描绘了用于引导可包括在套件中的组合式扩孔/刨削装置的图13的导向销的侧透视图;
图15描绘了图14的组合式扩孔/刨削装置的局部底部透视图,其显示了刨削部分和扩孔部分;
图16描绘了在已扩孔出腔体后以及在通过使用骨移植物和压实器以替换围绕所述腔体的骨损耗区域而修复关节盂后的图14的肩胛骨的侧透视图;
图17描绘了图16的肩胛骨的侧透视图,其中基座部件的导向孔与导向销对齐,使得基座部件将被定位成与肩胛骨的关节盂轴线对齐;
图18描绘了图17的肩胛骨的矢状平面图,其中旋转基座部件使得插入到基座的两个紧固件孔中的紧固件能够进入肩胛骨的侧向柱和脊向柱;
图19描绘了图18的肩胛骨的剖视图,其中所选择的关节运动部件的联接部分与基座部件的容器对齐;并且
图20描绘了图19的肩胛骨的剖视图,其中关节运动部件与基座部件联接,使得关节运动部件的最低点定位在肩胛骨的关节盂轴线处。
具体实施方式
类似的附图标记在整个下述说明和附图中是指类似的部件。
图3描绘了后倾关节盂部件100。关节盂部件100包括基座部件102和关节运动部件104。进一步参见图4-6,基座部件102包括在唇缘108与底部表面110之间延伸的壁106。在唇缘108处,壁106限定圆形外周边,所述圆形外周边稍大于在底部表面110处的壁106的圆形外周边。
唇缘108限定大致圆柱形的容器112。容器112从唇缘108延伸至下表面114。三个紧固件孔116,118和120延伸穿过下表面114和底部表面110。导向孔122也延伸穿过下表面114和底部表面110。导向孔122和容器112位于中心。因此,导向孔122、容器112和外壁106限定统一的轴线124。
图6和图7中所绘的关节运动部件104包括球形关节运动表面134和联接部分136。联接部分136的形状为大致圆柱形,并且其直径尺寸稍大于容器112的直径。将关节运动表面定位成为其最低点138位于关节运动部件104的中心轴线140上。因此,当关节运动部件104如图8中所绘与基座部件102联接时,最低点138位于基座部件的轴线124上。
该实施例中的关节盂部件100是模块化的,但是在其他实施例中其可以是一体成型的。一体成型的单元可由耐用的生物相容性塑料或任何其他合适的耐用的生物相容性材料制成。例如,关节盂部件100可由聚乙烯制成。一种尤其适用于关节盂部件100的特定聚乙烯为高分子量聚乙烯,例如超高分子量聚乙烯(“UHMWPE”)。一种此类UHMWPE由Johnson&Johnson(New Brunswick,New Jersey)以MARATHONTMUHMWPE出售并且更完整地描述于授予McKellop的美国专利6,228,900和6,281,264中,上述专利均以引用的方式并入本文。
在其中关节运动部件104和基座部件102单独形成的图3的实施例中,多种部件可由不同的材料制成。因而,关节运动表面134可由UHMWPE制成,而联接部分136和基座部件102可由合适的生物相容性金属(例如,钴铬合金、不锈钢合金、钛合金)或任何其他合适的耐用材料制成。在该实施例中,将关节运动表面134以任何合适的方式固定到联接部分136。例如,关节运动表面134可结合到联接部分136,或关节运动表面134可由聚乙烯制成并且压模到联接部分136。作为另外一种选择,可通过例如粘合剂将关节运动表面134胶合到联接部分136。作为另外一种选择,可通过将关节运动表面134锥形锁定或换句话讲压配到联接部分136中来将关节运动表面134机械性互锁到联接部分136,并且联接部分136可包括任何其他合适的互锁结构,例如一个或多个肋、一个或多个唇缘、一个或多个棘爪和/或一个或多个其他突起以及一个或多个配对沟槽、一个或多个槽、或一个或多个凹槽(未示出)。
在可供选择的实施例中,外壁106和底部表面110中的一个或多个可包括多孔涂层以有利于骨内长入关节盂部件100中。多孔涂层可为任何合适的多孔涂层并且可为例如所述为Johnson&Johnson(New Brunswick,New Jersey)的产品并且更完整地描述于授予Pilliar的美国专利3,855,638中,该专利以引用的方式并入本文。
关节盂部件100可包括在并入可用于促进关节盂部件100的植入的器械的套件中。此类器械可包括扩孔钻和导向销,如在下文更全面地讨论。另外,所述套件可包括具有不同高度和宽度的基座部件。典型的高度可在10至30毫米(mm)的范围内。所述套件还可包括具有不同直径的关节运动部件。在一个实施例中,套件包括具有不同直径的关节运动部件,所述直径在约23mm至约30mm的范围内。
优选地,套件中的每一个基座部件具有形状和尺寸设定成与其他基座部件102中的每一个的容器112相同的容器112,而关节运动部件104中的每一个具有形状和尺寸设定成与其他关节运动部件104中的每一个的联接部分136相同的联接部分136。因此,关节运动部件104中的任一者可与套件中的基座部件102中的任一者联接。
根据图10所示的程序150,可使用包括关节盂部件100的套件将关节盂部件100植入到先前已容纳关节盂部件的肩胛骨中。根据程序150,依据期望的手术径路,在方框152处进入肩胛骨。然后在方框154处移除先前植入的关节盂部件。在方框156处,识别肩胛骨的下关节盂圆的中心,该下关节盂圆的中心进一步描述于共同未决的美国专利申请[代理人案卷号1671-0479]中。虽然一旦在方框152处进入肩胛骨后,对下关节盂圆并且因而下关节盂圆的中心进行目视识别便成为可能,但是作为另一种选择,可借助成像技术或其他技术在对患者进行切口之前或之后识别出下关节盂圆的中心。
一旦在方框156处识别出下关节盂圆的中心,则识别出延伸穿过下关节盂圆的中心并且与关节盂的关节运动表面垂直的关节盂轴线(方框158)。在可供选择的方法中,关节盂轴线可在除了下关节盂圆的中心的位置处延伸穿过肩胛骨。可借助成像技术或其他技术在对患者进行切口之前或之后识别出关节盂轴线。
接着,将导向销定位在肩胛骨中,使得导向销的纵向轴线与关节盂轴线共延(方框160)。然后,在关节盂中扩孔出圆形腔体(方框162)并刨削出关节盂表面(方框164)。优选地,圆形腔体稍大于修正关节盂基座部件102的直径。这使得能够在不对可能显著失效的关节盂施加压力的情况下定位基座部件102,如在下文更全面地讨论。在方框166处,如果需要的话,在导向销之上使用骨移植物压实器,以便填充关节盂的无需用来容纳修正关节盂部件的空隙区。然后,将基座部件102的导向孔122与导向销对齐并且插到导向销上(方框168)。
然后使用导向销作为导向装置将基座部件102植入已准备的关节盂中(方框170)。由于导向销定位在关节盂轴线上并且由于导向销定位在导向孔122内,因此使用导向销确保了基座部件(参见图6)的中心轴线124与关节盂轴线对齐。在方框172处,基座部件122可进一步围绕导向销旋转,以将一个或多个紧固件孔116,118和120与相应的肩胛骨柱之一对齐,如A.Karellse等人的“Pillars of the Scapula”(Clinical Anatomy,第20卷,第392-399页(2007年))所述。通常,可定位紧固件孔116,118和120中的至少两个,以便进入侧向柱和脊向柱。由于关节盂中的腔体稍大于如上所述的基座部件102,因此基座部件102的旋转较为容易。
然后可移除导向销(方框174)并且可将一个或多个紧固件穿过紧固件孔116,118和120插入以将基座部件102附连至肩胛骨(方框176)。为了确保基座部件102的固定牢固,优选的是一个或甚至两个紧固件在肩胛骨的一个或多个柱内延伸到密质骨材料中。紧固件孔116,118和120可被配置成允许放置可变角度的紧固件以有助于实现牢固的固定。然后获得期望的关节运动部件(方框178),并且联接部分136与容器112对齐(方框180)。然后,联接部分136运动到容器112中,并且关节运动部件104联接到基座部件102(方框182)。可通过形成联接部分136和容器112以形成摩擦配合、莫氏锥度等而促进联接。一旦将关节运动部件104联接到基座部件102,最低点138便将与关节盂轴线对齐,因为关节运动部件104被配置成与基座部件102联接使得最低点138处于轴线140上(如上所述)。
图11-20描绘了在程序220的多个点处的肩胛骨50。在图11中,在方框152后描绘了肩胛骨12,其具有先前植入的关节盂部件52。图12描绘了在部件52已移除之后的肩胛骨50。图12中的肩胛骨50表现出已导致关节盂部件52的不稳定性的严重中心骨损耗。本文所公开的方法和装置可用于在存在多种关节盂缺陷(包括从轻微到严重的中心、周边和组合式缺陷)的情况下进行后倾关节盂植入。由于基座部件102未被压入配合到如上所述的肩胛骨中,因此甚至在存在严重缺陷的情况下其压碎一部分肩胛骨的可能性降低。
图13描绘了可包括在用于执行修正关节盂部件植入程序的套件中的导向销190和导向销放置导引器192。该导向销放置导引器192定位在肩胛骨50上、基本上中心位于下关节盂圆上。导向销190因此定位在肩胛骨50中,其中导向销190的纵向轴线与关节盂轴线对齐。
图14描绘了具有用于对也可包括在根据本发明的套件中的组合扩孔装置194进行引导的导向销190的肩胛骨50。组合扩孔装置194包括轴196和工作部分198。轴196和工作部分198是空心的,以允许导向销190用于将组合装置194精确定位。工作部分198包括外部刨削部分202和中心扩孔部分204。刨削部分202和中心扩孔部分204允许同时对关节盂表面进行扩孔和刨削。作为另外一种选择,可循序地使用两个单独的装置。
一旦肩胛骨50已被扩孔和刨削,则可能存在一些缺陷区域。因此,可使用骨移植材料来填充空隙区。在一个实施例中,套件包括空心压实器,其被成型为类似于扩孔部分204。该空心压实器可由导向销190引导以将骨移植材料210压实(参见图16),同时保持或最终形成腔体212,所述腔体被成型为稍大于基座部件102的外壁106。
然后使导向孔202如图17中所示地与导向销190对齐,并且通过导向销190将基座部件102引导至腔体212中。然后,根据需要将基座部件102在腔体212内旋转以定位紧固件孔116,118或120,从而允许穿过其中的紧固件固定到密质骨中。以举例的方式,图18描绘了被定位成使得穿过紧固件孔116的紧固件可固定在侧向柱中而穿过紧固件孔118的紧固件可固定在脊向柱中的基座部件102。因此,即使基座部件102的一些或全部可定位在骨移植物210上(参见例如图19),基座部件也可牢固地固定至肩胛骨50。因此,甚至当使用骨移植材料210来填充肩胛骨50的缺陷区域时,也无需二次外科手术。
一旦以任何期望的顺序将基座102固定至肩胛骨50并移除导向销190,便将选择的关节运动部件104的联接部分136与基座部件102的容器112对齐,如图19所示。然后将联接部分136运动到容器112中,并将关节运动部件104以任何期望方式(例如,通过在联接部分136与容器112之间的莫氏锥度配合)联接到基座部件102,从而得到图20的构型。在图20中,由于基座部件102使用与上述的关节盂轴线对齐的导向孔122的轴线124固定,因此最低点138位于关节盂轴线上。
虽然上述实例仅详细描述了单个关节盂部件100,但是套件可包括多个不同的关节盂部件。套件中的每个关节盂部件可具有不同的直径。另外,除了上述的那些方式之外,还可采用多种方式来修改程序150。以举例的方式,虽然在上述实例中随着在方框182处最低点138与下关节盂圆心对齐而使关节盂部件100得以植入,但是作为另外一种选择最低点138可从下关节盂圆心偏移。例如,通过在方框160处将导向销190定位在偏移位置可使最低点138沿着从下关节盂圆心向上和向后的方向从下关节盂圆心偏移约1.1mm。可使用基于成像和计算机的系统来协助将关节盂部件定位在该位置。
此外,虽然在程序150中描述了特定顺序,但是可按不同的顺序和/或以与其他步骤同时进行的方式执行多个所述步骤。
根据上述方法,在修正手术中将具有球形关节运动表面的关节盂部件在肩部旋转点处或与其非常接近的位置处植入。由于关节盂部件的位置,因此可使用具有与关节运动表面的曲率半径相匹配的曲率半径的肱骨部件来提供约束配合。如本文所用,术语“匹配”是指关节运动表面的曲率半径的差值小于2mm。
本发明的前述描述仅为示例性的,且并非旨在将本发明的范围限制于所示出的精确项。此外,尽管本发明已参照某些示例性实施例进行了详细描述,但各种变型和修改仍存在于下述权利要求所描述和定义的本发明的范围和实质内。
Claims (10)
1. 一种用于在修正肩关节成形术中使用的套件,包括:
至少一个修正关节盂部件,其包括基座部件,所述基座部件包括限定第一圆形外周边的唇缘和限定第二圆形外周边的底部表面;以及
用于准备关节盂中的腔体的扩孔钻,所述扩孔钻包括扩孔钻部分,所述扩孔钻部分被成型为与所述基座部件互补并且稍大于所述基座部件,使得当用所述扩孔钻在所述关节盂中形成腔体时,所述基座部件配合在所述腔体内而无需被压入配合到所述腔体中。
2. 根据权利要求1所述的套件,其中:
所述唇缘限定容器;
所述套件包括多个关节运动部件,所述多个关节运动部件中的每一个包括被配置成与所述容器联接的联接部分;并且
所述至少一个修正部件包括所述基座部件以及所述多个关节运动部件中的选择的一者。
3. 根据权利要求2所述的套件,其中所述多个关节运动部件包括:
第一关节运动部件,其包括具有第一直径的球形关节运动表面;和
第二关节运动部件,其包括具有第二直径的球形关节运动表面,所述第二直径大于所述第一直径。
4. 根据权利要求2所述的套件,其中:
所述容器限定中心轴线;并且
所述多个关节运动部件包括具有球形关节运动表面的第一关节运动部件,所述球形关节运动表面限定最低点,所述基座部件和所述第一关节运动部件被配置成使得当所述第一关节运动部件与所述基座部件联接时,所述最低点与所述中心轴线对齐。
5. 根据权利要求2所述的套件,其中:
所述容器限定中心轴线;并且
所述多个关节运动部件包括具有球形关节运动表面的第一关节运动部件,所述球形关节运动表面限定最低点,所述基座部件和所述第一关节运动部件被配置成使得当所述第一关节运动部件与所述基座部件联接时,所述最低点从所述中心轴线偏移。
6. 根据权利要求5所述的套件,其中所述基座部件和所述第一关节运动部件被配置成使得当所述第一关节运动部件与所述基座部件联接时,所述最低点从所述中心轴线偏移约1.1毫米。
7. 根据权利要求2所述的套件,其中:
所述容器限定中心轴线;并且
基座部件导向孔从所述容器延伸至所述底部表面并且与所述中心轴线对齐。
8. 根据权利要求7所述的套件,所述基座部件还包括:
多个紧固件孔,所述多个紧固件孔中的每一个从所述容器延伸至所述底部表面并且从所述中心轴线偏移。
9. 根据权利要求7所述的套件,其中所述扩孔钻包括:
扩孔钻导向孔,其延伸穿过所述扩孔钻部分;和
刨削部分,其位于所述扩孔钻部分之外。
10. 根据权利要求9所述的套件,还包括:
空心压实器,所述空心压实器被配置成形成腔体,所述腔体被成型为与所述基座部件互补并且稍大于所述基座部件,使得当使用所述压实器在所述关节盂中形成腔体时,所述基座部件配合在使用所述空心压实器形成的所述腔体内而无需被压入配合到所述腔体中。
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PCT/US2012/029034 WO2012129021A1 (en) | 2011-03-18 | 2012-03-14 | Revision glenoid device and method |
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EP2243444A1 (fr) * | 2009-04-22 | 2010-10-27 | Tornier | Dispositif de fixation à la glène d'un composant articulaire glénoïdien pour prothèse d'épaule, ainsi que prothèse d'épaule correspondante |
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CN104000641A (zh) * | 2014-06-13 | 2014-08-27 | 赵金忠 | 一种微创条件下的肩关节植骨装置 |
CN104000641B (zh) * | 2014-06-13 | 2016-08-17 | 赵金忠 | 一种微创条件下的肩关节植骨装置 |
CN110573114A (zh) * | 2017-03-30 | 2019-12-13 | 拜欧米特制造有限责任公司 | 患者特定的重建性关节盂系统和方法 |
CN110573114B (zh) * | 2017-03-30 | 2023-07-18 | 拜欧米特制造有限责任公司 | 患者特定的重建性关节盂系统 |
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CN103702637B (zh) | 2016-03-30 |
EP2685941B1 (en) | 2015-09-16 |
EP2685941A4 (en) | 2014-07-30 |
JP2014515643A (ja) | 2014-07-03 |
US20140018927A1 (en) | 2014-01-16 |
AU2012231300B2 (en) | 2016-08-04 |
US11076963B2 (en) | 2021-08-03 |
AU2012231300A1 (en) | 2013-10-17 |
US20120239156A1 (en) | 2012-09-20 |
US10172715B2 (en) | 2019-01-08 |
US20190125542A1 (en) | 2019-05-02 |
ZA201307756B (en) | 2015-04-29 |
US20210353424A1 (en) | 2021-11-18 |
US8551177B2 (en) | 2013-10-08 |
JP6017468B2 (ja) | 2016-11-02 |
WO2012129021A1 (en) | 2012-09-27 |
EP2685941A1 (en) | 2014-01-22 |
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