CN104000654A - 用于计算外科手术设备位置的计算机实现技术 - Google Patents
用于计算外科手术设备位置的计算机实现技术 Download PDFInfo
- Publication number
- CN104000654A CN104000654A CN201410061731.7A CN201410061731A CN104000654A CN 104000654 A CN104000654 A CN 104000654A CN 201410061731 A CN201410061731 A CN 201410061731A CN 104000654 A CN104000654 A CN 104000654A
- Authority
- CN
- China
- Prior art keywords
- surgical device
- video camera
- labelling
- imaging device
- patient
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Claims (20)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13000944.2 | 2013-02-25 | ||
EP13000944.2A EP2769689B8 (en) | 2013-02-25 | 2013-02-25 | Computer-implemented technique for calculating a position of a surgical device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104000654A true CN104000654A (zh) | 2014-08-27 |
CN104000654B CN104000654B (zh) | 2018-07-03 |
Family
ID=47826802
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410061731.7A Active CN104000654B (zh) | 2013-02-25 | 2014-02-24 | 用于计算外科手术设备位置的计算机实现技术 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10575755B2 (zh) |
EP (1) | EP2769689B8 (zh) |
CN (1) | CN104000654B (zh) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105520769A (zh) * | 2016-02-04 | 2016-04-27 | 蒋俊 | 一种脑部可视穿刺引流系统 |
CN106333748A (zh) * | 2016-09-28 | 2017-01-18 | 梁月强 | 一种基于摄像头的穿刺导航系统 |
CN107106241A (zh) * | 2014-10-17 | 2017-08-29 | 伊马科提斯公司 | 用于对外科器械进行导航的系统 |
CN107157516A (zh) * | 2017-07-05 | 2017-09-15 | 四川省肿瘤医院 | 一种超声扫描设备 |
CN107753105A (zh) * | 2016-08-16 | 2018-03-06 | 株式会社高永科技 | 定位手术用手术机器人系统及其控制方法 |
CN108778148A (zh) * | 2015-12-28 | 2018-11-09 | 赞克特机器人有限公司 | 可调节的配准框架 |
CN109310317A (zh) * | 2016-05-05 | 2019-02-05 | J·S·贝茨 | 用于自动医学诊断的系统和方法 |
CN109938840A (zh) * | 2019-03-12 | 2019-06-28 | 清华大学 | 用于体内结构追踪的液态金属体外标记物装置及追踪方法 |
CN110537983A (zh) * | 2019-09-26 | 2019-12-06 | 重庆博仕康科技有限公司 | 光磁一体穿刺手术导航平台 |
CN110974417A (zh) * | 2019-12-13 | 2020-04-10 | 浙江伽奈维医疗科技有限公司 | 一种集成导航智能消融系统及其方法 |
CN111225618A (zh) * | 2017-09-06 | 2020-06-02 | 德亚特管理私人有限公司 | 成像设备 |
CN111588464A (zh) * | 2019-02-20 | 2020-08-28 | 忞惪医疗机器人(苏州)有限公司 | 一种手术导航方法及系统 |
CN112043386A (zh) * | 2020-09-09 | 2020-12-08 | 浙江莱福医疗科技有限公司 | 无人化远程插管方法与系统 |
CN112446856A (zh) * | 2014-11-10 | 2021-03-05 | 维申Rt有限公司 | 摄像机参数检查方法及相应患者监控系统和计算机 |
CN112641513A (zh) * | 2020-12-15 | 2021-04-13 | 深圳市精锋医疗科技有限公司 | 手术机器人及其控制方法、控制装置 |
US11164679B2 (en) | 2017-06-20 | 2021-11-02 | Advinow, Inc. | Systems and methods for intelligent patient interface exam station |
TWI749922B (zh) * | 2020-11-30 | 2021-12-11 | 財團法人金屬工業研究發展中心 | 手術影像註冊系統與方法 |
US11348688B2 (en) | 2018-03-06 | 2022-05-31 | Advinow, Inc. | Systems and methods for audio medical instrument patient measurements |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6740131B2 (ja) | 2014-02-21 | 2020-08-12 | スリーディインテグレイテッド アーペーエス3Dintegrated Aps | 手術器具を備えたセット、手術システム、及びトレーニング方法 |
US10284762B2 (en) * | 2014-10-27 | 2019-05-07 | Clear Guide Medical, Inc. | System and method for targeting feedback |
EP3145419B1 (en) | 2015-07-21 | 2019-11-27 | 3dintegrated ApS | Cannula assembly kit, trocar assembly kit and minimally invasive surgery system |
US11020144B2 (en) | 2015-07-21 | 2021-06-01 | 3Dintegrated Aps | Minimally invasive surgery system |
DK178899B1 (en) | 2015-10-09 | 2017-05-08 | 3Dintegrated Aps | A depiction system |
JP6985262B2 (ja) * | 2015-10-28 | 2021-12-22 | エンドチョイス インコーポレイテッドEndochoice, Inc. | 患者の体内における内視鏡の位置を追跡するための装置及び方法 |
US11062465B2 (en) | 2016-03-17 | 2021-07-13 | Brainlab Ag | Optical tracking |
US11154363B1 (en) * | 2016-05-24 | 2021-10-26 | Paul A. Lovoi | Terminal guidance for improving the accuracy of the position and orientation of an object |
US11350995B2 (en) | 2016-10-05 | 2022-06-07 | Nuvasive, Inc. | Surgical navigation systems and methods |
US10786311B2 (en) * | 2017-12-22 | 2020-09-29 | Acclarent, Inc. | Apparatus and method for registering facial landmarks for surgical navigation system |
US20190200900A1 (en) * | 2017-12-28 | 2019-07-04 | Wisconsin Alumni Research Foundation | Apparatus for Intraoperative Ligament Load Measurements |
JP7439831B2 (ja) * | 2018-10-12 | 2024-02-28 | ソニーグループ株式会社 | 手術室制御システム、方法、およびプログラム |
JP2022506220A (ja) | 2018-10-29 | 2022-01-17 | ストライカー・コーポレイション | 脊椎手術を行うシステム及び方法、並びに手術部位における流体を維持するシステム及び方法 |
JP2022526910A (ja) * | 2019-03-25 | 2022-05-27 | ファス モバイル インコーポレイテッド | X線装置又は超音波装置環境において処置具を照準及び位置合わせするシステム及び方法 |
US11612440B2 (en) | 2019-09-05 | 2023-03-28 | Nuvasive, Inc. | Surgical instrument tracking devices and related methods |
US11461929B2 (en) | 2019-11-28 | 2022-10-04 | Shanghai United Imaging Intelligence Co., Ltd. | Systems and methods for automated calibration |
EP4351463A1 (en) * | 2021-06-08 | 2024-04-17 | Stryker European Operations Limited | Surgical tracking system for tracking an instrument with respect to a reference body |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6934575B2 (en) * | 1994-09-15 | 2005-08-23 | Ge Medical Systems Global Technology Company, Llc | Position tracking and imaging system for use in medical applications |
CN101023887A (zh) * | 2005-10-18 | 2007-08-29 | 西门子公司 | 用于在心脏成像时进行运动校正的方法和装置 |
US20080208041A1 (en) * | 2006-03-30 | 2008-08-28 | Activiews Ltd. | System and Method For Optical Position Measurement And Guidance Of A Rigid Or Semi-Flexible Tool To A Target |
US20100121189A1 (en) * | 2008-11-12 | 2010-05-13 | Sonosite, Inc. | Systems and methods for image presentation for medical examination and interventional procedures |
US20100177185A1 (en) * | 2007-06-18 | 2010-07-15 | Swen Woerlein | Surgical microscope with integrated structured illumination |
US20110245659A1 (en) * | 2010-04-01 | 2011-10-06 | Sonosite, Inc. | Systems and methods to assist with internal positioning of instruments |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0266432B1 (en) | 1986-04-22 | 1992-01-15 | Toray Industries, Inc. | Microelectrode for electrochemical analysis |
US6405072B1 (en) * | 1991-01-28 | 2002-06-11 | Sherwood Services Ag | Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus |
BR9609484A (pt) * | 1995-07-16 | 1999-12-14 | Yoav Paltieli | Processo e aparelho para direcionamento à mão livre de uma agulha so sentido de um alvo localizado em um volume corpóreo e aparelho de agulha |
IL122336A0 (en) * | 1997-11-27 | 1998-04-05 | Ultra Guide Ltd | System and method for guiding the movements of a device to a target particularly for medical applications |
EP1843553A4 (en) * | 2005-01-25 | 2009-06-03 | Vodafone Plc | LINK OPERATION METHOD AND NETWORK TERMINAL APPARATUS |
US8737708B2 (en) * | 2009-05-13 | 2014-05-27 | Medtronic Navigation, Inc. | System and method for automatic registration between an image and a subject |
JP6073369B2 (ja) * | 2011-12-27 | 2017-02-01 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 追跡システムの術中品質モニタリング |
US9439627B2 (en) * | 2012-05-22 | 2016-09-13 | Covidien Lp | Planning system and navigation system for an ablation procedure |
EP2928406B1 (en) * | 2012-12-07 | 2019-02-20 | University of Houston System | Surgical procedure management systems |
-
2013
- 2013-02-25 EP EP13000944.2A patent/EP2769689B8/en active Active
-
2014
- 2014-02-21 US US14/186,286 patent/US10575755B2/en active Active
- 2014-02-24 CN CN201410061731.7A patent/CN104000654B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6934575B2 (en) * | 1994-09-15 | 2005-08-23 | Ge Medical Systems Global Technology Company, Llc | Position tracking and imaging system for use in medical applications |
CN101023887A (zh) * | 2005-10-18 | 2007-08-29 | 西门子公司 | 用于在心脏成像时进行运动校正的方法和装置 |
US20080208041A1 (en) * | 2006-03-30 | 2008-08-28 | Activiews Ltd. | System and Method For Optical Position Measurement And Guidance Of A Rigid Or Semi-Flexible Tool To A Target |
CN101536013A (zh) * | 2006-03-30 | 2009-09-16 | 埃克特维有限公司 | 光学位置测量及将坚硬或半柔软的工具引导到目标的系统和方法 |
US20100177185A1 (en) * | 2007-06-18 | 2010-07-15 | Swen Woerlein | Surgical microscope with integrated structured illumination |
US20100121189A1 (en) * | 2008-11-12 | 2010-05-13 | Sonosite, Inc. | Systems and methods for image presentation for medical examination and interventional procedures |
US20110245659A1 (en) * | 2010-04-01 | 2011-10-06 | Sonosite, Inc. | Systems and methods to assist with internal positioning of instruments |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107106241A (zh) * | 2014-10-17 | 2017-08-29 | 伊马科提斯公司 | 用于对外科器械进行导航的系统 |
CN112446856A (zh) * | 2014-11-10 | 2021-03-05 | 维申Rt有限公司 | 摄像机参数检查方法及相应患者监控系统和计算机 |
CN108778148A (zh) * | 2015-12-28 | 2018-11-09 | 赞克特机器人有限公司 | 可调节的配准框架 |
CN105520769A (zh) * | 2016-02-04 | 2016-04-27 | 蒋俊 | 一种脑部可视穿刺引流系统 |
CN105520769B (zh) * | 2016-02-04 | 2018-01-26 | 常州汉丰生物科技有限公司 | 一种脑部可视穿刺引流系统 |
CN109310317A (zh) * | 2016-05-05 | 2019-02-05 | J·S·贝茨 | 用于自动医学诊断的系统和方法 |
US10548681B2 (en) | 2016-08-16 | 2020-02-04 | Koh Young Technology Inc. | Surgical robot system for stereotactic surgery and method for controlling stereotactic surgery robot |
CN107753105A (zh) * | 2016-08-16 | 2018-03-06 | 株式会社高永科技 | 定位手术用手术机器人系统及其控制方法 |
US11179219B2 (en) | 2016-08-16 | 2021-11-23 | Koh Young Technology Inc. | Surgical robot system for stereotactic surgery and method for controlling stereotactic surgery robot |
CN106333748B (zh) * | 2016-09-28 | 2019-08-20 | 梁月强 | 一种基于摄像头的穿刺导航系统 |
CN106333748A (zh) * | 2016-09-28 | 2017-01-18 | 梁月强 | 一种基于摄像头的穿刺导航系统 |
US11164679B2 (en) | 2017-06-20 | 2021-11-02 | Advinow, Inc. | Systems and methods for intelligent patient interface exam station |
CN107157516A (zh) * | 2017-07-05 | 2017-09-15 | 四川省肿瘤医院 | 一种超声扫描设备 |
CN111225618A (zh) * | 2017-09-06 | 2020-06-02 | 德亚特管理私人有限公司 | 成像设备 |
US11348688B2 (en) | 2018-03-06 | 2022-05-31 | Advinow, Inc. | Systems and methods for audio medical instrument patient measurements |
CN111588464A (zh) * | 2019-02-20 | 2020-08-28 | 忞惪医疗机器人(苏州)有限公司 | 一种手术导航方法及系统 |
CN111588464B (zh) * | 2019-02-20 | 2022-03-04 | 忞惪医疗机器人(苏州)有限公司 | 一种手术导航方法及系统 |
CN109938840B (zh) * | 2019-03-12 | 2020-07-28 | 清华大学 | 用于体内结构追踪的液态金属体外标记物装置及追踪方法 |
CN109938840A (zh) * | 2019-03-12 | 2019-06-28 | 清华大学 | 用于体内结构追踪的液态金属体外标记物装置及追踪方法 |
CN110537983A (zh) * | 2019-09-26 | 2019-12-06 | 重庆博仕康科技有限公司 | 光磁一体穿刺手术导航平台 |
CN110974417A (zh) * | 2019-12-13 | 2020-04-10 | 浙江伽奈维医疗科技有限公司 | 一种集成导航智能消融系统及其方法 |
CN112043386B (zh) * | 2020-09-09 | 2021-09-07 | 浙江莱福医疗科技有限公司 | 无人化远程插管系统 |
CN112043386A (zh) * | 2020-09-09 | 2020-12-08 | 浙江莱福医疗科技有限公司 | 无人化远程插管方法与系统 |
TWI749922B (zh) * | 2020-11-30 | 2021-12-11 | 財團法人金屬工業研究發展中心 | 手術影像註冊系統與方法 |
CN112641513A (zh) * | 2020-12-15 | 2021-04-13 | 深圳市精锋医疗科技有限公司 | 手术机器人及其控制方法、控制装置 |
CN112641513B (zh) * | 2020-12-15 | 2022-08-12 | 深圳市精锋医疗科技股份有限公司 | 手术机器人及其控制方法、控制装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2769689B8 (en) | 2018-06-27 |
EP2769689A1 (en) | 2014-08-27 |
CN104000654B (zh) | 2018-07-03 |
EP2769689B1 (en) | 2018-04-25 |
US10575755B2 (en) | 2020-03-03 |
US20140243658A1 (en) | 2014-08-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104000654A (zh) | 用于计算外科手术设备位置的计算机实现技术 | |
US10593052B2 (en) | Methods and systems for updating an existing landmark registration | |
EP3505133B1 (en) | Use of augmented reality to assist navigation | |
US20080123910A1 (en) | Method and system for providing accuracy evaluation of image guided surgery | |
US8682413B2 (en) | Systems and methods for automated tracker-driven image selection | |
US8131031B2 (en) | Systems and methods for inferred patient annotation | |
CN107106241B (zh) | 用于对外科器械进行导航的系统 | |
EP2207483B1 (en) | Three dimensional mapping display system for diagnostic ultrasound machines and method | |
US20200275988A1 (en) | Image to world registration for medical augmented reality applications using a world spatial map | |
US20080119725A1 (en) | Systems and Methods for Visual Verification of CT Registration and Feedback | |
JP2021049416A (ja) | 同時x平面撮像を用いた画像レジストレーション及び誘導 | |
US20060036162A1 (en) | Method and apparatus for guiding a medical instrument to a subsurface target site in a patient | |
CN107106240B (zh) | 显示线性仪器相对于3d医学图像导航后的位置和取向的方法和系统 | |
US20070225553A1 (en) | Systems and Methods for Intraoperative Targeting | |
JP2016512973A (ja) | 身体に対して対象を追跡するための追跡装置 | |
JP2009078144A (ja) | 副鼻洞形成術ナビゲーションのためのフルオロスコープと計算機式断層写真法との位置揃えのシステム及び利用方法 | |
Ferguson et al. | Toward image-guided partial nephrectomy with the da Vinci robot: exploring surface acquisition methods for intraoperative re-registration | |
JP2020519367A (ja) | 超音波処置における動き補償のためのワークフロー、システム及び方法 | |
US11950950B2 (en) | Zoom detection and fluoroscope movement detection for target overlay | |
US11553970B2 (en) | Technique for transferring a registration of image data of a surgical object from one surgical navigation system to another surgical navigation system | |
JP2022517807A (ja) | 医療用ナビゲーションのためのシステムおよび方法 | |
US9477686B2 (en) | Systems and methods for annotation and sorting of surgical images | |
EP4026511A1 (en) | Systems and methods for single image registration update | |
CN219048814U (zh) | 手术导航系统 | |
JP7510438B2 (ja) | コンピュータ支援手術のための方法及びシステム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170214 Address after: michigan Applicant after: Stryker European Holdings I, LLC Address before: michigan Applicant before: Sitaike Europe holding limited liability company six Effective date of registration: 20170214 Address after: michigan Applicant after: Sitaike Europe holding limited liability company six Address before: Freiburg, Germany Applicant before: STRYKER LEIBINGER GmbH & Co.KG |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: Michigan, USA Patentee after: Stryker Europe operations Holdings Ltd. Address before: Michigan, USA Patentee before: Stryker Europe holdings III Ltd. |
|
CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211220 Address after: Michigan, USA Patentee after: Stryker Europe holdings III Ltd. Address before: Michigan, USA Patentee before: Stryker European Holdings I, LLC |
|
TR01 | Transfer of patent right |