CN105662507B - 用于手术吻合器械的装载单元附接箍 - Google Patents
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Abstract
本发明公开了一种用于手术吻合器械的装载单元附接箍。装载单元和保持箍组件包含外壳和保持箍。所述外壳具有近侧端部，所述近侧端部限定接合窗且包含环状表面。保持箍绕近侧端部的环状表面径向地布置且包含具有第一端和第二端的弹性主体。所述第一端包含弹性锁止部，所述弹性锁止部配置为延伸通过外壳的近侧端部的接合窗。所述弹性锁止部定尺寸成可释放地接合手术器械。
Description
相关申请的交叉引用
本申请要求于2014年12月8日提交的美国临时专利申请第62/088,729号的权益和优先权，该专利申请的全部公开通过引用合并于此。
技术领域
本公开通常涉及手术吻合器械。更具体地，本公开涉及具有可替换的装载单元的圆形吻合器械。
背景技术
配置为在手术操作期间接合组织部分的手术吻合器械为公知的。这些器械包含线形末端执行器，所述末端执行器定向成平行于或横断该器械的纵向轴线。这些器械还包含圆形的末端执行器。典型地，线形吻合器械包含一次性装载单元或允许吻合器械被使用多次的可替换的钉仓。相反地，传统的圆形吻合器械典型地包含固定地附接至该器械的钉仓或外壳组件，使得该器械必须在单次使用后处理掉。
本技术领域存在对于一种用于将钉仓或外壳组件可释放地但牢固地紧固至圆形吻合器械，以助于吻合器械的再用的简单廉价的器械的需求。
发明内容
在本公开的方案中，装载单元和保持箍(band)组件包含外壳和保持箍。所述外壳具有近侧端部，所述近侧端限定接合窗且包含环状表面。保持箍绕所述近侧端部的所述环状表面径向地布置，且包含具有第一端和第二端的弹性主体。所述第一端包含配置为延伸通过所述外壳的所述近侧端部的所述接合窗的弹性锁止部。所述弹性锁止部被定尺寸成可释放地接合手术器械。
在该方案中，外壳包含支撑吻合钉钉仓的远侧端部。环状表面可限定环状沟槽且保持箍的主体可布置在该环状沟槽内。
在一些方案中，保持箍的弹性锁止部可朝向外壳的纵向轴线延伸通过接合窗。外壳的近侧端部可限定与接合窗径向偏离的夹部开口。所述保持箍的所述第二端可包含夹部，所述夹部延伸通过所述夹部开口且捕捉所述外壳的所述近侧端部的在所述保持箍的所述夹部和所述主体之间的部分。所述外壳的所述近侧端部可限定凸起开口。所述夹部开口可定位在所述接合窗和所述凸起开口之间。所述保持箍可包含邻接所述主体的所述第二端的凸起，所述凸起从所述主体朝向所述夹部延伸。所述凸起可延伸通过所述凸起开口，以将所述保持箍的所述第二端相对于所述近侧端部固定。所述保持箍的所述弹性主体可配置为促使所述第一端和所述第二端推向彼此。
在本公开的另一个方案中，一种手术器械和装载单元组件包含装载单元、手术器械、以及保持箍。所述装载单元包含外壳，所述外壳具有包含环状表面且限定接合窗的近侧端部。手术器械具有被接纳在所述外壳的所述近侧端部内的远侧端。保持箍绕所述近侧端部的所述环状表面径向地布置。所述保持箍具有包含第一端和第二端的弹性主体。所述第一端包含弹性锁止部，所述弹性锁止部延伸通过所述外壳的所述近侧端部的所述接合窗，以将所述装载单元可释放地联接至所述手术器械。
在该方案中，所述手术器械的所述远侧端限定附接窗。所述保持箍的所述弹性锁止部可延伸通过所述接合窗和所述附接窗，以将所述装载单元可释放地联接至所述手术器械。所述外壳可限定纵向轴线，且所述外壳的所述近侧端部可包含从所述近侧端部向内突出的键。所述手术器械的所述远侧端限定键槽，所述键槽接纳所述键以使所述装载单元和所述手术器械相对于彼此径向固定。所述键可关于所述装载单元的所述近侧端部定位且所述键槽可关于所述手术器械的远侧端定位，以将所述装载单元的所述接合窗与所述手术器械的所述附接窗径向对准。
在本公开的另一个方案中，一种将装载单元稳固至手术器械的方法包含：将所述手术器械的远侧端插入所述装载单元的近侧端部；使布置于所述装载单元的所述近侧端部上的保持箍变形以允许所述装载单元完全地接纳所述手术器械的所述远侧端；以及当所述手术器械的所述远侧端完全地接纳在所述装载单元的所述近侧端部内时，释放所述保持箍以将所述装载单元固定至所述手术器械。
在该方案中，所述方法包含将所述保持箍附接至所述装载单元的所述近侧端部。将所述保持箍附接至所述装载单元的所述近侧端部可先于将所述手术器械的远侧端插入所述装载单元的所述近侧端部内。
在一些方案中，将所述保持箍附接至所述装载单元的所述近侧端部包含：将所述保持箍的第二端稳固至所述装载单元的所述近侧端部；以及将所述保持箍的主体定位在限定于所述装载单元的所述近侧端部中的环状沟槽内。所述保持箍的所述主体可定位在所述保持箍的所述第一端和所述第二端之间。将所述保持箍的所述第二端固定至所述装载单元的所述近侧端部可包含捕捉所述近侧端部的在所述保持箍的夹部和所述主体之间的部分，所述夹部从所述保持箍的所述第二端延伸。捕捉所述近侧端部的所述部分可包含沿第一方向旋转所述保持箍，直到邻接所述保持箍的所述第二端的凸起布置在限定于所述近侧端部的凸起开口内。所述凸起可接合所述凸起开口以防止所述保持箍沿与所述第一方向相反的第二方向旋转。
在具体方案中，将所述保持箍的所述主体定位在所述环状沟槽内包含在定位所述保持箍的所述主体后将所述保持箍的锁止部定位成通过形成在所述装载单元的所述近侧端部中的接合窗。将所述保持箍的所述锁止部定位成通过所述接合窗可包含所述锁止部的径向部接合所述接合窗的与所述保持箍的所述第一端间隔开的端部表面，以防止保持箍沿所述第二方向旋转。
在某些方案中，所述方法包括在释放保持箍的所述第一端后将所述装载单元从所述手术器械分开。将装载单元从接合器分开可包含：使所述保持箍变形以容许所述手术器械的所述远侧端释放所述装载单元的所述近侧端部；以及将所述手术器械的所述远侧端从在所述装载单元的所述近侧端部内取出。
在该方案中，将所述手术器械的所述远侧端插入所述装载单元的所述近侧端部内包含所述远侧端抵接所述保持箍的延伸通过所述近侧端部的接合窗的锁止部。使所述保持箍的所述第一端变形可包含将所述锁止部从所述接合窗移去。在所述手术器械的所述远侧端完全地被接纳在所述装载单元的所述近侧端部内时释放所述保持箍的所述第一端可包含所述保持箍的所述锁止部，所述锁止部延伸通过形成在所述近侧端部中的所述接合窗。附接窗可形成在所述手术器械的所述远侧端中，以将所述装载单元稳固至所述手术器械。
进一步地，为了在范围上一致，在此描述的任意方案可连同任意的或全部的在此描述的其它方案一起使用。
附图说明
下面参考包含在说明书中并构成本说明书的一部分的附图描述本公开的各种方案，其中：
图1是根据本公开的圆形吻合手术器械的立体图，其中装载单元可释放地联接至手术器械的远侧端；
图2是图1的接合器的立体图，其中装载单元从手术器械脱离；
图3是图2的手术器械的远侧端的一部分的放大的立体图；
图4是图2的装载单元的立体图，其中保持箍从外壳组件分离；
图5是图4的保持箍的立体图；
图6是图2的装载单元的放大的立体图，其中吻合钉钉仓被从装载单元的外壳组件移去；
图7是图4的装载单元的后视立体图；
图8是沿图7的剖切线8-8截取的剖视图；
图9是沿图7的剖切线9-9截取的侧剖视图以及图2的接合器的一部分侧剖视图；
图10是图9的装载单元和接合器的侧剖视图，其中手术器械的远侧端接纳在装载单元的近侧端中；
图11是图10的装载单元和手术器械的侧剖视图，其中保持箍的一部分变形；以及
图12是图11的装载单元和手术器械联接在一起的侧剖视图。
具体实施方式
现在参考附图详细描述本公开的实施例，其中同样的附图标记指代几幅视图的每一幅视图中的同一或对应的元件。如在此使用的，术语“临床医生”指的是医生、护士或任何其他护理提供者且可包含辅助人员。在整个本说明书中，术语“近侧”指的是器械或其部件的最靠近临床医生的部分，而术语“远侧”指的是器械或其部件的最远离临床医生的部分。
图1和图2图示出根据本公开的实施例的装载单元10和接合器100。装载单元10配置为经由接合器100来选择地连接至动力手持式机电器械(未示出)。可选地，装载单元10能够配置为连接至如美国专利第8,789,737号(“’737专利”)所述的手动致动的手柄组件或吻合器械，该专利通过引用合并于此。在这种实施例中，吻合器械的细长主体部可具有与图2所示的接合器100的主体部相似的结构。在图示出的实施例中，装载单元10可释放地联接至接合器100的远侧端部110，且包含吻合钉钉仓12、外壳组件20以及用于将装载单元10可释放地稳固至接合器100的附接构件或保持箍40。装载单元10还可包含砧座(未示出)。接合器100配置为转换如机电器械(未示出)的吻合器械的运动以致动吻合钉钉仓12来缝合和切割组织(未示出)。接合器100的近侧端102能够附接至吻合器械以致动吻合钉钉仓12。预期到的是，接合器100的近侧端102可附接至如在’737专利中描述的手动致动器械以致动吻合钉钉仓12。
对于示范性的接合器和装载单元的结构和功能的详细描述，请参照于2014年10月21日提交的、申请系列号为62/066,518的共有美国临时专利申请。对于示范性的机电器械的结构和功能的详细描述，请参照于2012年5月31日提交的申请系列号为13/484,975的、现作为美国专利公开号2012/0253329公开的共有美国专利申请。这些申请中的每一个均通过引用而以其全部内容合并于此。
参考图3，接合器100的远侧端110限定附接窗112和键槽119。附接窗112延伸穿过接合器100，且如下详述地配置为与保持箍40相互配合以将外壳组件20纵向地固定至接合器100的远侧端110。键槽119限定在接合器100的远侧端110的外表面中，且与接合器100的纵向轴线平行地延伸。如下文详述的，键槽119定尺寸且配置为将外壳组件20与接合器100径向对准且将外壳组件20固定至接合器100。如所示地，键槽119没有完全地穿过接合器100的远侧端110；然而，预期到的是，键槽119可完全地穿过接合器100的远侧端110以在接合器100的远侧端110中形成纵向狭槽。
参考图4至图6，外壳组件20包含近侧端部22和远侧端32，该近侧端部限定开口24(图7)，该开口定形成接纳接合器100的远侧端110(图2)，该远侧端32限定用于选择地接纳吻合钉钉仓12(图2)的接纳部34。在实施例中，开口24和接纳部34具有圆筒形状。外壳组件20的近侧端部22包含限定环状的沟槽23a的环状表面23。环状的沟槽23a接纳附接构件或保持箍40，以将外壳组件20可释放地稳固至接合器100。径向的沟槽23a可定尺寸成接纳保持箍40，以便保持箍40与外壳组件20的近侧端部22的外表面形成连续的表面。近侧端部22包含定位在环状表面23的近侧端处的近侧环25，且限定夹部开口26、接合窗27和延伸通过环状表面23的凸起开口28。接合窗27和凸起开口28沿环状表面23彼此径向间隔开，其中，夹部开口26定位在接合窗27和凸起开口28之间。
简单参考图7和图8，外壳组件20的近侧端部22包含键29，所述键从近侧端部22的内表面突出且朝向外壳组件20的纵向轴线延伸。在实施例中，键29沿与外壳组件20的纵向轴线平行的方向延伸且定位在接合窗27和夹部开口26之间。预期到的是，键29可定位在绕外壳组件20的近侧端部22的内表面的任何位置处，且可从环状表面23内的位置向近侧延伸并如图7中所示的延伸到近侧环25的内表面上。
再次参考图4至图6，保持箍40包含具有第一端42和第二端46的主体45。第一端42包含锁止部44，该锁止部定尺寸成被接纳在外壳组件20的接合窗27内。锁止部44包含邻接第一端42的斜面部44a、以及邻接主体45的径向部44b。第二端46向后弯曲形成夹部48。第二端46还包含向内延伸的弹性凸起49，该弹性凸起朝向夹部48延伸。夹部48定尺寸成穿过形成在外壳组件20的近侧端部22中的夹部开口26，且捕捉近侧端部22的环状表面23的介于箍40的夹部48和主体45之间的部分。凸起49定尺寸成被接纳在限定在环状表面23中的凸起开口28内，以将保持箍40的第二端46稳固至外壳组件20。
还参考图7和图8，通过将保持箍40的主体45定位成绕外壳组件20的近侧端部22的环状表面23且将保持箍40的第二端46插入到穿过环状表面23所限定的夹部开口26内，保持箍40被附接至外壳组件20。夹部48被定位成使得环状表面23的一部分被捕捉在保持箍40的夹部48和主体45之间。保持箍40沿箭头R(图8)所示的第一方向旋转，直到环状表面23的所述一部分抵接保持箍40的介于夹部48和主体45之间的第二端46为止。当环状表面23的所述一部分移动到与保持箍40的第二端46抵接时，凸起49穿过凸起开口28而卡住，以将保持箍40的第二端46稳固至外壳组件20。更具体地，随着保持箍40沿箭头R指示的第一方向旋转，凸起49通过与环状表面23的接合而被推动远离外壳组件20的纵向轴线，直到凸起49穿过且卡入到凸起开口28中为止。当凸起49定位在凸起开口28内时，经由凸起49与外壳组件20的近侧端部22的被捕捉在夹部48和凸起49之间的那部分的接合，凸起49防止保持箍40沿与第一方向相反的第二方向旋转。
当保持箍40的第二端46稳固至外壳组件20时，保持箍40的主体45定位在限定环状表面23的沟槽23a内，使得主体45与环状表面23接触。在此位置中，在保持箍40的第一端42上的锁止部44穿过接合窗27。当锁止部44定位在接合窗27内时，锁止部44的径向部44b接合近侧端部22的限定接合窗27的一部分，以防止保持箍40沿第二方向旋转。在实施例中，保持箍40的主体45由弹性材料形成，其在定位成绕外壳组件20的近侧端部22时向外弯曲。如此，主体45的弹力将保持箍40的第一端42和第二端46推向彼此。主体45的这种偏置有助于将保持箍40固定至外壳组件20。
参考图9至图12，为了将装载单元10固定至接合器100的远侧端110或手动致动的手术器械的细长主体，如图9所示，外壳组件20的纵向轴线与接合器100的纵向轴线对准。另外，外壳组件20的近侧端部22与接合器100的远侧端110径向对准，使得外壳组件20的键29与接合器100的键槽119对准。将要预期到的是，当键29与键槽119对准时，接合器100的附接窗112与外壳组件20的接合窗27对准(图9)。
在键29与键槽119对准的情况下，接合器100的远侧端110定位在外壳组件20的开口24内(图10)。接合器100滑动到外壳组件20的开口24内，直到接合器100的远侧端110定位成邻接保持箍40的延伸通过外壳组件20的接合窗27的锁止部44。接合器100的远侧端110可插入到圆筒状开口24内，直到远侧端110抵接保持箍40的锁止部44(图10)。
参考图11，当接合器100的远侧端110邻接或抵接保持箍40的锁止部44时，保持箍40的第一端42被沿箭头B指示的方向手动地抬起，以使保持箍40的第一端42移动离开外壳组件20的环状表面23。当保持箍40的第一端42被抬起离开环状表面23时，锁止部44从接合窗27内移动，以允许接合器100的远侧端110在外壳组件20内滑动到接合器100的附接窗112与外壳组件20的接合窗27纵向对准的位置(图12)。在窗27和窗112彼此对准的情况下，保持箍40的第一端42被释放而使得处于拉伸状态的保持箍40返回夹紧到外壳组件20的近侧端部22上，以便锁止部44延伸通过外壳组件20的接合窗27以及接合器100的附接窗112而将外壳组件20纵向地固定至接合器110。将要预期到的是，保持箍40的主体45的弹力按照箭头C表示地促使第一端42的锁止部44通过窗27和窗112。当锁止部44延伸通过窗27和窗112时，装载单元10稳固至接合器100。
在装载单元稳固至接合器100的情况下，接合器100和装载单元10可被用来执行手术操作。在手术操作完成后，通过抬升第一端42以将锁止部44从接合器100的附接窗112移去且将装载单元10从接合器100分开，装载单元10被从接合器100释放。当附接窗112定位成远离装载单元10的附接窗27时，第一端42可被释放。在装载单元10从接合器100分开的情况下，接合器100可消毒用于在另外手术操作中再用，或可附接至新的装载单元用于在持续进行的手术操作中再次使用。另外，装载单元10可消毒用于在另外的手术操作中使用，或可丢弃。
尽管本公开的几个实施例已经在附图中示出，但并不意味着本公开限制于此，因为本公开在范围上与本领域将允许的一样宽泛并且同样地解读本说明书。还会想到上文的实施例的任何组合且其在所附的权利要求书的范围内。因此，上文的说明不应该解释为限制，而是仅仅作为具体实施例的例证。本领域的技术人员将预想到在所附于此的权利要求书的范围内的其它修改。
Claims (21)
1.一种装载单元和保持箍组件，包括：
外壳，其具有限定接合窗的近侧端部，所述近侧端部包含环状表面；以及
保持箍，其绕所述近侧端部的所述环状表面径向地布置，所述保持箍包含具有第一端和第二端的弹性主体，所述第一端包含配置为延伸通过所述外壳的所述近侧端部的所述接合窗的弹性锁止部，所述弹性锁止部从所述弹性主体向内延伸并被定尺寸成当使所述保持箍变形时允许所述外壳的所述近侧端部完全地接纳手术器械的远侧端并且当所述手术器械的所述远侧端被完全地接纳在所述近侧端部内后释放所述保持箍时可释放地接合所述手术器械。
2.根据权利要求1所述的组件，其中，所述外壳包含配置为支撑吻合钉钉仓的远侧端部。
3.根据权利要求1所述的组件，其中，所述环状表面限定环状沟槽，所述保持箍的所述弹性主体布置在所述环状沟槽内。
4.根据权利要求1所述的组件，其中，所述保持箍的所述弹性锁止部朝向所述外壳的纵向轴线延伸通过所述接合窗。
5.根据权利要求4所述的组件，其中，所述外壳的所述近侧端部限定与所述接合窗径向偏离的夹部开口，且所述保持箍的所述第二端包含夹部，所述夹部延伸通过所述夹部开口且配置为捕捉所述外壳的所述近侧端部的在所述保持箍的所述夹部和所述弹性主体之间的部分。
6.根据权利要求5所述的组件，其中，所述外壳的所述近侧端部限定凸起开口，所述夹部开口定位在所述接合窗和所述凸起开口之间，并且其中，所述保持箍包含邻接所述弹性主体的所述第二端的凸起，从所述弹性主体朝向所述夹部的所述凸起延伸通过所述凸起开口，以将所述保持箍的所述第二端相对于所述外壳的所述近侧端部固定。
7.根据权利要求1所述的组件，其中，所述保持箍的所述弹性主体配置为促使所述第一端和所述第二端朝向彼此。
8.一种手术器械和装载单元组件，包括：
装载单元，其包含外壳，所述外壳具有包含环状表面且限定接合窗的近侧端部；
手术器械，其具有被接纳在所述外壳的所述近侧端部内的远侧端；以及
保持箍，其绕所述近侧端部的所述环状表面径向地布置，所述保持箍具有包含第一端和第二端的弹性主体，所述第一端包含弹性锁止部，所述弹性锁止部延伸通过所述外壳的所述近侧端部的所述接合窗从所述弹性主体向内延伸并被定尺寸成当使所述保持箍变形时允许所述外壳的所述近侧端部完全地接纳手术器械的远侧端并且当所述手术器械的所述远侧端被完全地接纳在所述近侧端部内后释放所述保持箍时将所述装载单元可释放地联接至所述手术器械。
9.根据权利要求8所述的组件，其中，所述手术器械的所述远侧端限定附接窗，所述保持箍的所述弹性锁止部延伸通过所述接合窗和所述附接窗，以将所述装载单元可释放地联接至所述手术器械。
10.根据权利要求9所述的组件，其中，所述外壳限定纵向轴线，且所述外壳的所述近侧端部包含从所述近侧端部向内突出的键，所述手术器械的所述远侧端限定键槽，所述键槽接纳所述键以使所述装载单元和所述手术器械相对于彼此径向固定。
11.根据权利要求10所述的组件，其中，所述键关于所述装载单元的所述近侧端部定位且所述键槽关于所述手术器械的远侧端定位，以将所述装载单元的所述接合窗与所述手术器械的所述附接窗径向对准。
12.一种将装载单元稳固至手术器械的方法，所述方法包括：
将所述手术器械的远侧端插入所述装载单元的近侧端部，其中所述近侧端部限定接合窗并且包含环状表面；
使布置于所述装载单元的所述近侧端部上的保持箍变形，以允许所述装载单元完全地接纳所述手术器械的所述远侧端，其中所述保持箍绕所述近侧端部的所述环状表面径向地布置并且包含具有第一端和第二端的弹性主体，所述第一端包含配置为延伸通过所述接合窗的弹性锁止部；以及
当所述手术器械的所述远侧端完全地接纳在所述装载单元的所述近侧端部内时，释放所述保持箍，以将所述装载单元稳固至所述手术器械。
13.根据权利要求12所述的方法，进一步包括将所述保持箍附接至所述装载单元的所述近侧端部。
14.根据权利要求13所述的方法，其中，将所述保持箍附接至所述装载单元的所述近侧端部，先于将所述手术器械的远侧端插入所述装载单元的所述近侧端部内。
15.根据权利要求13所述的方法，其中，将所述保持箍附接至所述装载单元的所述近侧端部包含：
将所述保持箍的第二端稳固至所述装载单元的所述近侧端部；以及
将所述保持箍的主体定位在限定于所述装载单元的所述近侧端部中的环状沟槽内，所述保持箍的所述主体定位在所述保持箍的第一端和所述第二端之间。
16.根据权利要求15所述的方法，其中，将所述保持箍的所述第二端稳固至所述装载单元的所述近侧端部包含：捕捉所述近侧端部的在所述保持箍的夹部和所述主体之间的部分，其中，所述夹部从所述保持箍的所述第二端延伸。
17.根据权利要求16所述的方法，其中，捕捉所述装载单元的所述近侧端部的所述部分包含：沿第一方向旋转所述保持箍，直到邻接所述保持箍的所述第二端的凸起布置在限定于所述近侧端部的凸起开口内，所述凸起接合所述凸起开口以防止所述保持箍沿与所述第一方向相反的第二方向旋转。
18.根据权利要求17所述的方法，其中，将所述保持箍的所述主体定位在所述环状沟槽内包含：在定位所述主体后，将所述保持箍的锁止部定位成通过形成在所述装载单元的所述近侧端部中的接合窗。
19.根据权利要求18所述的方法，其中，将所述保持箍的所述锁止部定位成通过所述接合窗包含：所述锁止部的径向部接合所述接合窗的与所述保持箍的所述第一端间隔开的端部表面，以防止所述保持箍沿所述第二方向旋转。
20.根据权利要求12所述的方法，进一步包括在释放所述保持箍的第一端后将所述装载单元从所述手术器械分开，包含：
使所述保持箍的所述第一端变形以容许所述手术器械的所述远侧端释放所述装载单元的所述近侧端部；以及
将所述手术器械的所述远侧端从所述装载单元的所述近侧端部内取出。
21.根据权利要求12所述的方法，其中，将所述手术器械的所述远侧端插入所述装载单元的所述近侧端部内包含：所述远侧端抵接所述保持箍的延伸通过所述近侧端部的接合窗的锁止部，其中，使所述保持箍的第一端变形包含将所述锁止部从所述接合窗移去，且其中，在所述手术器械的所述远侧端完全地被接纳在所述装载单元的所述近侧端部内时释放所述保持箍的所述第一端包含：所述保持箍的所述锁止部延伸通过形成在所述近侧端部中的所述接合窗以及形成在所述手术器械的所述远侧端中的附接窗，以将所述装载单元稳固至所述手术器械。
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| JP2016107091A (ja) | 2016-06-20 |
| US10751049B2 (en) | 2020-08-25 |
| CN105662507A (zh) | 2016-06-15 |
| AU2015252008A1 (en) | 2016-06-23 |
| US20190015097A1 (en) | 2019-01-17 |
| CA2911125A1 (en) | 2016-06-08 |
| US20160157856A1 (en) | 2016-06-09 |
| US10085744B2 (en) | 2018-10-02 |
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