CN103957799B - 用于提供x 射线图像的医疗成像系统和方法 - Google Patents
用于提供x 射线图像的医疗成像系统和方法 Download PDFInfo
- Publication number
- CN103957799B CN103957799B CN201280058837.0A CN201280058837A CN103957799B CN 103957799 B CN103957799 B CN 103957799B CN 201280058837 A CN201280058837 A CN 201280058837A CN 103957799 B CN103957799 B CN 103957799B
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- China
- Prior art keywords
- detector
- cart
- active sensor
- sensor matrix
- ray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
- A61B6/587—Alignment of source unit to detector unit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0492—Positioning of patients; Tiltable beds or the like using markers or indicia for aiding patient positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4411—Constructional features of apparatus for radiation diagnosis the apparatus being modular
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
- G02B7/005—Motorised alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J37/00—Discharge tubes with provision for introducing objects or material to be exposed to the discharge, e.g. for the purpose of examination or processing thereof
- H01J37/02—Details
- H01J37/22—Optical, image processing or photographic arrangements associated with the tube
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
- A61B6/582—Calibration
- A61B6/585—Calibration of detector units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
- A61B6/588—Setting distance between source unit and detector unit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/105—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a laser alignment system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1051—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an active marker
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J2237/00—Discharge tubes exposing object to beam, e.g. for analysis treatment, etching, imaging
- H01J2237/15—Means for deflecting or directing discharge
- H01J2237/1501—Beam alignment means or procedures
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J2237/00—Discharge tubes exposing object to beam, e.g. for analysis treatment, etching, imaging
- H01J2237/20—Positioning, supporting, modifying or maintaining the physical state of objects being observed or treated
- H01J2237/202—Movement
- H01J2237/20292—Means for position and/or orientation registration
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J2237/00—Discharge tubes exposing object to beam, e.g. for analysis treatment, etching, imaging
- H01J2237/245—Detection characterised by the variable being measured
- H01J2237/24507—Intensity, dose or other characteristics of particle beams or electromagnetic radiation
- H01J2237/24514—Beam diagnostics including control of the parameter or property diagnosed
- H01J2237/24528—Direction of beam or parts thereof in view of the optical axis, e.g. beam angle, angular distribution, beam divergence, beam convergence or beam landing angle on sample or workpiece
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J2237/00—Discharge tubes exposing object to beam, e.g. for analysis treatment, etching, imaging
- H01J2237/248—Components associated with the control of the tube
- H01J2237/2482—Optical means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- High Energy & Nuclear Physics (AREA)
- Biophysics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Human Computer Interaction (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161565545P | 2011-12-01 | 2011-12-01 | |
| US61/565,545 | 2011-12-01 | ||
| PCT/IB2012/056716 WO2013080111A1 (en) | 2011-12-01 | 2012-11-26 | Medical imaging system and method for providing an x-ray image |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103957799A CN103957799A (zh) | 2014-07-30 |
| CN103957799B true CN103957799B (zh) | 2016-09-21 |
Family
ID=47471881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280058837.0A Active CN103957799B (zh) | 2011-12-01 | 2012-11-26 | 用于提供x 射线图像的医疗成像系统和方法 |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US9474502B2 (https=) |
| EP (1) | EP2785249B1 (https=) |
| JP (1) | JP6159732B2 (https=) |
| CN (1) | CN103957799B (https=) |
| BR (1) | BR112014012921A2 (https=) |
| IN (1) | IN2014CN04392A (https=) |
| MX (1) | MX342614B (https=) |
| RU (1) | RU2616986C2 (https=) |
| WO (1) | WO2013080111A1 (https=) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9737280B2 (en) | 2013-04-23 | 2017-08-22 | Koninklijke Philips N.V. | Tube-detector alignment using light projections |
| CN104739429B (zh) * | 2013-12-31 | 2020-06-23 | Ge医疗系统环球技术有限公司 | X-光机及x-光机的对准方法 |
| US20150216495A1 (en) * | 2014-02-05 | 2015-08-06 | Gabriel Gonzalez | Robotically assisted self-aligning portable x-ray machine |
| JP6292931B2 (ja) * | 2014-03-07 | 2018-03-14 | 株式会社日立製作所 | X線撮像装置およびx線撮像部の移動と絞りを調整する方法 |
| US9782136B2 (en) * | 2014-06-17 | 2017-10-10 | The University Of North Carolina At Chapel Hill | Intraoral tomosynthesis systems, methods, and computer readable media for dental imaging |
| US10980494B2 (en) | 2014-10-20 | 2021-04-20 | The University Of North Carolina At Chapel Hill | Systems and related methods for stationary digital chest tomosynthesis (s-DCT) imaging |
| US10835199B2 (en) | 2016-02-01 | 2020-11-17 | The University Of North Carolina At Chapel Hill | Optical geometry calibration devices, systems, and related methods for three dimensional x-ray imaging |
| US10531850B2 (en) | 2017-09-07 | 2020-01-14 | General Electric Company | Mobile X-ray imaging with detector docking within a spatially registered compartment |
| JP6878330B2 (ja) * | 2018-02-09 | 2021-05-26 | 株式会社東芝 | 粒子線治療装置 |
| RU2716459C1 (ru) * | 2019-06-27 | 2020-03-11 | Акционерное общество "Конструкторское бюро химавтоматики" (АО КБХА) | Потолочное устройство для рентгеновского контроля деталей |
| CN113520417A (zh) * | 2020-04-20 | 2021-10-22 | 湖南涌仁科技有限公司 | 一种射线诊断装置以及x射线诊断装置的控制方法 |
| CN112263786B (zh) * | 2020-10-26 | 2022-11-25 | 中国人民解放军空军军医大学 | 一种食管癌治疗用定位装置 |
| JP7550629B2 (ja) * | 2020-12-10 | 2024-09-13 | キヤノンメディカルシステムズ株式会社 | X線診断装置 |
| US11382582B1 (en) | 2021-08-02 | 2022-07-12 | Oxos Medical, Inc. | Imaging systems and methods |
| EP4472516A1 (en) | 2022-03-22 | 2024-12-11 | OXOS Medical, Inc. | Improved imaging systems and methods |
| EP4316376A1 (en) | 2022-08-01 | 2024-02-07 | Koninklijke Philips N.V. | Auto positioning of x-ray tube support with respect to detector |
| JP2025184232A (ja) * | 2024-06-06 | 2025-12-18 | 富士フイルム株式会社 | 放射線撮影システムおよび撮影ユニット |
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| EP1306053A2 (de) * | 2001-10-15 | 2003-05-02 | Siemens Aktiengesellschaft | Universal-Radiographie-System |
| CN1575769A (zh) * | 2003-07-17 | 2005-02-09 | 西门子公司 | X射线系统 |
| JP2005237612A (ja) * | 2004-02-26 | 2005-09-08 | Shimadzu Corp | 天井走行式x線管懸垂装置 |
| JP2008104703A (ja) * | 2006-10-26 | 2008-05-08 | Shimadzu Corp | 天井懸垂式x線管保持装置 |
| DE102007033235A1 (de) * | 2007-07-17 | 2009-01-22 | Siemens Ag | Vorrichtung für die Aufnahme von Schwächungsbildern |
| JP2011036326A (ja) * | 2009-08-07 | 2011-02-24 | Shimadzu Corp | X線管保持装置 |
| CN102028543A (zh) * | 2009-09-30 | 2011-04-27 | 深圳迈瑞生物医疗电子股份有限公司 | 一种悬吊型医用装置定位系统 |
| CN102106738A (zh) * | 2011-03-23 | 2011-06-29 | 深圳市蓝韵实业有限公司 | 一种悬吊式x射线摄影系统 |
Family Cites Families (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4054402B2 (ja) * | 1997-04-25 | 2008-02-27 | 株式会社東芝 | X線断層撮影装置 |
| US5241578A (en) * | 1991-12-02 | 1993-08-31 | Arch Development Corporation | Optical grid alignment system for portable radiography and portable radiography apparatus incorporating same |
| JPH06114043A (ja) * | 1992-10-06 | 1994-04-26 | Toshiba Corp | 回診用x線診断装置 |
| DE19611706A1 (de) | 1996-03-25 | 1997-10-02 | Siemens Ag | Röntgenaufnahmeeinrichtung |
| US6078036A (en) * | 1998-05-06 | 2000-06-20 | Intraop Medical, Inc. | Laser soft docking system for medical treatment system |
| US6851851B2 (en) * | 1999-10-06 | 2005-02-08 | Hologic, Inc. | Digital flat panel x-ray receptor positioning in diagnostic radiology |
| DE10216857A1 (de) * | 2002-04-16 | 2003-11-13 | Siemens Ag | Verfahren zur Steuerung einer Röntgeneinrichtung |
| JP3673791B2 (ja) * | 2002-05-22 | 2005-07-20 | キヤノン株式会社 | 放射線撮影装置及び放射線撮影方法 |
| US6935779B2 (en) * | 2002-11-29 | 2005-08-30 | Ge Medical Systems Global Technology Company, Llc | Method and apparatus for aligning an X-ray source and detector at various source to image distances |
| US7104689B2 (en) * | 2003-01-22 | 2006-09-12 | Instrumentarium Corporation | Positioning device and method in X-ray imaging systems |
| DE10341541B4 (de) * | 2003-09-09 | 2009-08-13 | Siemens Ag | Vorrichtung zur Erkennung der Relativ-Position eines Röntgenstrahlers und eines Bildempfängers |
| US7046765B2 (en) * | 2004-03-31 | 2006-05-16 | Accuray, Inc. | Radiosurgery x-ray system with collision avoidance subsystem |
| DE102005010659A1 (de) * | 2005-03-08 | 2006-09-14 | Siemens Ag | Röntgenvorrichtung |
| DE102005032288B4 (de) * | 2005-07-11 | 2008-10-16 | Siemens Ag | Röntgenaufnahmeeinrichtung |
| US7627084B2 (en) | 2007-03-30 | 2009-12-01 | General Electric Compnay | Image acquisition and processing chain for dual-energy radiography using a portable flat panel detector |
| US7737427B2 (en) * | 2007-07-30 | 2010-06-15 | Fujifilm Corporation | Radiation image capturing system |
| JP2010119485A (ja) * | 2008-11-18 | 2010-06-03 | Hitachi Medical Corp | X線撮影装置、x線検出器の保持部材、及びx線検出器 |
| JP2010221002A (ja) * | 2009-02-26 | 2010-10-07 | Fujifilm Corp | 放射線撮影装置 |
| DE102009013572B4 (de) | 2009-03-17 | 2013-02-21 | Siemens Aktiengesellschaft | Verfahren zur automatischen Positionierung einer Röntgenquelle eines Röntgensystems und Röntgensystem |
| JP2011125544A (ja) * | 2009-12-18 | 2011-06-30 | Fujifilm Corp | 放射線撮影装置用連動装置及び放射線撮影システム |
| JP2011189114A (ja) * | 2010-02-17 | 2011-09-29 | Canon Inc | 放射線撮影装置、放射線発生装置、放射線撮影システム及びその処理方法 |
| US8821017B2 (en) * | 2010-04-13 | 2014-09-02 | Carestream Health, Inc. | Projector as collimator light |
| US9016940B2 (en) * | 2011-11-04 | 2015-04-28 | Fujifilm Medical Systems U.S.A., Inc. | Mobile patient positioning cart for multiple exposure imaging exams |
-
2012
- 2012-11-26 BR BR112014012921A patent/BR112014012921A2/pt not_active Application Discontinuation
- 2012-11-26 RU RU2014126573A patent/RU2616986C2/ru not_active IP Right Cessation
- 2012-11-26 JP JP2014544009A patent/JP6159732B2/ja active Active
- 2012-11-26 MX MX2014006346A patent/MX342614B/es active IP Right Grant
- 2012-11-26 US US14/361,574 patent/US9474502B2/en active Active
- 2012-11-26 CN CN201280058837.0A patent/CN103957799B/zh active Active
- 2012-11-26 WO PCT/IB2012/056716 patent/WO2013080111A1/en not_active Ceased
- 2012-11-26 EP EP12809346.5A patent/EP2785249B1/en active Active
-
2014
- 2014-06-13 IN IN4392CHN2014 patent/IN2014CN04392A/en unknown
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1306053A2 (de) * | 2001-10-15 | 2003-05-02 | Siemens Aktiengesellschaft | Universal-Radiographie-System |
| CN1575769A (zh) * | 2003-07-17 | 2005-02-09 | 西门子公司 | X射线系统 |
| JP2005237612A (ja) * | 2004-02-26 | 2005-09-08 | Shimadzu Corp | 天井走行式x線管懸垂装置 |
| JP2008104703A (ja) * | 2006-10-26 | 2008-05-08 | Shimadzu Corp | 天井懸垂式x線管保持装置 |
| DE102007033235A1 (de) * | 2007-07-17 | 2009-01-22 | Siemens Ag | Vorrichtung für die Aufnahme von Schwächungsbildern |
| JP2011036326A (ja) * | 2009-08-07 | 2011-02-24 | Shimadzu Corp | X線管保持装置 |
| CN102028543A (zh) * | 2009-09-30 | 2011-04-27 | 深圳迈瑞生物医疗电子股份有限公司 | 一种悬吊型医用装置定位系统 |
| CN102106738A (zh) * | 2011-03-23 | 2011-06-29 | 深圳市蓝韵实业有限公司 | 一种悬吊式x射线摄影系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015502795A (ja) | 2015-01-29 |
| MX342614B (es) | 2016-10-06 |
| US9474502B2 (en) | 2016-10-25 |
| US20140341356A1 (en) | 2014-11-20 |
| WO2013080111A1 (en) | 2013-06-06 |
| EP2785249B1 (en) | 2015-06-17 |
| CN103957799A (zh) | 2014-07-30 |
| EP2785249A1 (en) | 2014-10-08 |
| IN2014CN04392A (https=) | 2015-09-04 |
| JP6159732B2 (ja) | 2017-07-05 |
| RU2014126573A (ru) | 2016-01-27 |
| MX2014006346A (es) | 2014-06-23 |
| BR112014012921A2 (pt) | 2017-06-13 |
| RU2616986C2 (ru) | 2017-04-19 |
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