CN106859718A - 具有直线位置传感器的手术紧固件装置 - Google Patents
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Abstract
本公开提供一种具有直线位置传感器的手术紧固件装置。该紧固件装置包括：手柄；细长体，其连接到所述手柄；紧固件仓，其邻近所述细长体的远端设置，并且具有至少一个紧固件；推动器，所述推动器至少部分地设置在所述细长体内，并且适于经过发射行程的纵向移动以从所述紧固件仓射出至少一个紧固件；直线位置传感器，其安装在所述细长体内，并且尺寸设定成并定位成在经过所述发射行程的移动期间接合所述推动器，并且适于发送至少一个输出信号，所述至少一个输出信号表示在所述发射行程期间通过所述推动器施于所述直线位置传感器上的应变；和控制器，所述控制器被配置成并适于基于所述至少一个输出信号来确定所述推动器在所述发射行程内的位置。
Description
对相关申请的交叉引用
本申请要求于2015年12月10日提交的美国临时专利申请第62/265,480号的权益和优先权，其全部公开通过引用并入本文中。
技术领域
本公开涉及一种用于将手术紧固件施加到身体组织的手术紧固件装置，并且更具体地，涉及一种包括直线位置传感器的手术紧固件装置，该直线位置传感器适于确定紧固件器械的推动器在经过其发射行程的移动期间的位置。
背景技术
吻合术是指分离的组织部分的手术接合。吻合术操作可以在移除了中空的组织或器官结构的患病的或缺陷的部分的手术之后，因而需要接合其余的组织部分。依据所执行的特定操作和/或其他因素，组织的端部可以通过直线吻合术或圆形吻合术接合，例如，通过端对端吻合术、端对侧吻合术或侧对侧吻合术来接合。
适于吻合术的紧固件器械或装置通常包括推动器或驱动机构，推动器或驱动机构在发射行程期间将紧固件阵列或吻合钉阵列传送经过组织的两个部分中的每个部分以接合组织部分，并且可以同时对在新接合部分内的邻接的组织切割或去核，以分离或清除通过其中的通道。为了确保发射行程有效地驱动吻合钉或紧固件穿过组织以实现组织部分的成功吻合，在发射行程期间确认推动器相对于紧固件的位置对临床医生具有重要价值。在该操作期间所利用的吻合钉或紧固件的尺寸，组织的厚度和/或器械的发射部件的制造公差将影响推动器的行进，并且可能减损吻合的总体有效性。利用可重复使用器械对该组织变得更加关键，可重复使用器械具有适于与安装有的末端执行器的各种装载单元一起使用的可重复使用手柄。装载单元的驱动部件和末端执行器的尺寸的变化和/或紧固件的尺寸将影响发射行程的有效性。
发明内容
相应地，本公开涉及紧固件装置的进一步改进。根据本公开，一种紧固件装置包括：手柄；细长体，所述细长体连接到所述手柄；紧固件仓，所述紧固件仓具有至少一个紧固件；推动器，所述推动器至少部分地设置在所述细长体内，并且适于纵向移动经过发射行程以从所述紧固件仓射出所述至少一个紧固件；直线位置传感器，所述直线位置传感器安装在所述细长体内，并且尺寸设定成并定位成在经过所述发射行程的移动期间接合所述推动器，并且适于发送至少一个输出信号，所述至少一个输出信号表示在所述发射行程期间通过所述推动器施于所述直线位置传感器上的应变；和控制器，所述控制器被配置成并适于基于所述至少一个输出信号来确定所述推动器在所述发射行程内的位置。
在一个方案中，所述控制器包括存储器，该存储器用于存储与在所述发射行程期间在所述推动器的多个位置处通过所述推动器施于所述直线位置传感器上的应变相关联的校准数据。所述控制器可以被配置成将所述至少一个输出信号与所述校准数据进行比较，以确定所述推动器在所述发射行程内的位置。
所述直线位置传感器可以包括弹簧构件和安装到所述弹簧构件上的应变计，所述弹簧构件的尺寸设定成在经过所述发射行程移动期间通过所述推动器接合。所述应变计适于发送所述至少一个输出信号。在一个实施例中，所述弹簧构件是以悬臂关系安装在所述细长体内的板簧。
所述推动器可以包括用于接合所述弹簧构件的传感器接触表面。所述传感器接触表面定位成在所述发射行程期间所述推动器移动时接合所述弹簧构件。
所述紧固件装置可以包括电动机，所述电动机可操作地联接到所述推动器，用于控制所述推动器的移动。所述控制器可以被配置成基于通过所述直线位置传感器发送的所述至少一个输出信号来控制所述电动机的运转。输入设备可以设置成键入或输入数据用于通过所述存储器来存储。所述输入数据可以包括所述校准数据、所述至少一个紧固件的尺寸、受检者的组织类型或履历数据中之一。所述控制器被配置成基于所述输入数据来控制所述电动机的运转的至少一个参数。
所述紧固件装置可以进一步包括用以监测所述电动机的负荷状态的至少一个反馈传感器。可以设置包括用于显示对应于所述推动器在所述发射行程期间的位置的可视标记的可视显示器。还构思了音频输出。
在一个方案中，所述紧固件仓包括以环形阵列布置的多个紧固件，并且进一步包括相对于所述紧固件仓能安装的砧座。所述砧座包括尺寸设定成使所述紧固件成形或卷曲的砧座头。
在本公开的另一方案中，一种用于与包括至少一个推动器的类型的手术装置一起使用的传感器系统包括直线位置传感器和控制器(例如，微控制器)，至少一个推动器适于行进经过发射行程。直线位置传感器能安装在所述手术装置内，并且尺寸设定成并定位成在经过所述发射行程的移动期间接合所述推动器。所述直线位置传感器适于发送至少一个输出信号给控制器，所述至少一个输出信号表示在所述发射行程期间通过所述推动器施于所述直线位置传感器上的应变。所述控制器被配置成并适于基于所述至少一个输出信号和存储在所述控制器的存储器内的校准数据来确定所述推动器在所述发射行程内的位置。
所述直线位置传感器可以包括弹簧构件和安装到所述弹簧构件上的应变计，所述弹簧构件的尺寸设定成在经过所述发射行程的移动期间通过所述推动器接合。所述应变计适于发送所述至少一个输出信号到控制器。
本公开的直线位置传感器向临床医生提供关于在发射行程期间推进器相对于紧固件仓和/或紧固件的位置的有价值的信息。基于该信息，发射行程将成功的可能性极大地提高。此外，直线位置传感器适应制造公差、工具类型和紧固件尺寸的任何变化，并且利用校准数据和包括在控制器内的相关联的计算机逻辑，推动器的发射行程的适当长度或距离可以经确定和控制以实现例如组织部分的成功吻合。
从以下描述和附图，本公开的其他优点将变得显而易见。
附图说明
将通过参考附图来理解本公开的实施例，其中：
图1是的紧固件装置的立体图，图示了手柄、安装有末端执行器并具有与传感器组件相关联的部件的细长工具以及用于控制紧固件装置的操作的控制器；
图2是移除了末端执行器的砧座的细长工具的立体图；
图3是图2中所标识的细节区域的放大分离视图；
图4是细长工具的远端的立体图，图示了安装在细长工具的外体(虚线)内的推动器和传感器组件的直线位置传感器；
图5是图4中所标识的细节区域的放大分离视图；
图6是细长工具的远端的侧面正视图，图示了相对于直线位置传感器推动器处于初始位置；
图7是与图6的视图类似的视图，图示了推动器在推动器的发射行程期间接合直线位置传感器；
图8是与图7的视图类似的视图，图示了推动器在经过发射行程的持续移动期间将力施加至直线位置传感器上；
图9是细长工具的末端执行器以虚线示出的与图6的视图类似的侧面正视图，图示了在发射行程完成时的推动器和直线位置传感器；并且
图10是图示了末端执行器的示例性的部件的分解立体图。
具体实施方式
下面参照附图来描述本公开的特定实施例；但是，应当理解，所公开的实施例仅仅是本公开的示例，并且可以以各种形式实施。公知的功能和结构不详细描述，避免在不必要的详细上使本公开不清楚。因此，文中公开的具体结构和功能细节不应解释为限定，而仅仅是作为权利要求的基础并且作为一种代表性基础用以教导本领域技术人员以实际上任何适当具体的结构来采用本公开。
包括本公开的直线位置传感器的传感器组件可以被包括在具有适于行进经过推动器或发射行程的推动器的这种类型的任何手术器械或装置内。在下面的描述中，结合圆形吻合装置来讨论传感器组件；但是，可以想到，传感器组件可以被包括在包括直线吻合装置、腹腔镜吻合器、开放式吻合器或皮肤吻合器的各种类型的器械内，或者被包括在诸如手术抓持器、镊子、活检设备等等的不采用紧固件的器械内。
现在参照在若干视图中以相同的附图标记表示类似的部件的附图，图1图示了根据本公开的原理的手术紧固件装置10。手术紧固件装置10可以适于与组织的端对端吻合术或圆形吻合术相结合而将环形或圆形的紧固件阵列或吻合钉阵列施加于组织。但是，紧固件装置10可以适于施加一个或多个直线排的紧固件或吻合钉。紧固件装置10包括手柄100、能连接到手柄100的细长体或工具200以及末端执行器300。手柄100可以是具有手柄框架102和至少一个致动器(在一些实施例中，为适于控制紧固件装置10的操作的两个以上的致动器104、106和108)的(可重复使用的或一次性的)任何手柄组件。手柄100可以被供给动力(例如机电手柄，包括电动机400和具有相关逻辑、软件或电路来控制电动机400的运转的控制器500)，并且进而控制末端执行器300的移动。致动器104、106和108可以与控制器500通信以控制电动机400的运转以及手柄框架102内的各种推动器或驱动部件。在替代方案中，手柄100可以被机械地触发，例如，没有电动机而通过机械联动装置、齿轮等来控制末端执行器300。适合与紧固件装置10一起使用的手柄的进一步细节可以参考共同受让的Malinouskas等人的美国专利公开第2011/0121049号或Zemlock等人的美国专利公开第2013/0214025号来确定，每个文献的全部内容通过引用并入本文中。
细长工具200可以是具有末端执行器300的单次使用装载单元(SULU)或多次使用装载单元(MULU)，在一个实施例中，末端执行器300适于(例如)一个或多个紧固件的单发射或多发射。细长工具200和末端执行器300中的全部或部分可在使用之后经过杀菌程序而与可重复使用部件一起重复使用。
末端执行器300可以是适于发射圆形或环形的紧固件阵列的紧固件发射执行器。根据该实施例，末端执行器包括吻合钉仓或紧固件仓302以及砧座304。紧固件仓302可以安装到细长工具200或者细长工具200的部件上，并且容置至少一个紧固件或多个紧固件。在替代方案中，紧固件仓302可以可释放地安装到细长工具200上，并且在紧固件的供应耗尽时利用另一紧固件仓302更换。砧座304可以相对于紧固件仓302能够可释放地安装。当联接到细长工具200时，砧座304相对于紧固件仓302在打开位置和接近位置之间能移动。紧固件从紧固件仓302被驱动而穿过位于部件周围的组织，并且被砧座304卷曲。末端执行器300的进一步细节可以参考共同受让的Milliman的美国专利公开第2015/0014393号，其全部内容通过引用并入本文中。
现在参考图1至图2，细长工具200包括容置紧固件发射机构的部件和接近机构的部件的外体或外壳202，紧固件发射机构用于发射紧固件，接近机构用于将砧座304与紧固件仓302接近。外体202限定近端或后端202a以及远端或前端202b，并且限定纵向轴线“k”。细长工具200进一步包括砧座保持器或套管针204，砧座保持器或套管针204可释放地安装到外体202并且是相对于紧固件仓302。图2图示了从手柄100的手柄框架102释放的细长工具200。在图2中，示出了从细长工具200的外体202移除(为了说明的目的)的紧固件仓302。砧座保持器204相对于紧固件仓302固定和/或安装砧座304，并且可以用作套管针，有助于在没有安装砧座304时使细长工具200前进而穿过组织。
现在参照图3至5，紧固件装置10包括传感器组件600，传感器组件600可以安装在细长工具200内，或者可替代地安装在末端执行器300内。在一个实施例中，传感器组件600安装在细长工具200内，与细长工具200的推动器206邻近。传感器组件600包括传感器安装件602和直线位置传感器，一般性地以附图标记604来标识。传感器安装件602经由诸如螺钉208的紧固件以稳固的关系固定到细长工具200的外体202，所述紧固件延伸穿过外体202并且被接收至传感器安装件602的螺纹开口606内。还设想了用于相对于外体202固定传感器组件600的其他机构。
直线位置传感器604适于向控制器500发送与细长工具200的推动器206在推动器206的发射行程期间的位置相对应的至少一个信号，例如，多个信号。直线位置传感器604包括弹簧608和固定到弹簧608的应变计610。弹簧608可以是通过包括粘合剂和/或紧固件的任何常规手段以悬臂关系安装到传感器安装件602的板簧。应变计610可以是包括(例如)一个或多个惠斯通电桥(Wheatstone bridge)的任何常规仪表，适于测量由物体(例如，紧固件装置10的推动器206)施于其上的应变。应变计610可以利用粘合剂等固定到弹簧608。应变计610与控制器500电通信，并且被配置和适于在紧固件装置10的操作期间向控制器发送信号。
传感器组件600适于相对于细长工具200的推动器206能滑动地移动。在一个实施例中，推动器206包括至少部分地容纳传感器安装件602的凹部或开口210。传感器安装件602适于在推动器206的发射行程和返回行程(分别由图3的方向箭头“m”和“b”表示)期间横过开口210。可以设想用于允许传感器安装件602相对于推动器206滑动移动的任何手段，包括(例如)利用轨道、凹槽等。
推动器206进一步包括在推动器206的发射行程期间接合直线位置传感器604的传感器接触表面212。当由于制造公差、所选择的细长工具200的结构和功能特征等而处于如图4和5所描述的初始未致动状态时，推动器206的传感器接触表面212可与传感器安装件602间隔开，允许推动器206在与直线位置传感器604接合之前自由行进。推动器206的任何初始自由行进对于紧固件装置10在发射紧固件和实现吻合上的有效性不是重要的。应当理解，直线位置传感器604在通过推动器206接合时向临床医生提供了(例如)推动器206在发射行程期间相对于紧固件仓302和紧固件的位置的持续指示。该信息通过提供推动器206的位置和发射行程的完成的确认来辅助临床医生。
作为进一步选择，传感器组件600可以包括与末端执行器300和/或推动器206通信的一个或多个反馈传感器(一般性地表示为附图标记612)。反馈传感器612可以是被配置为测量电流、电压、温度和/或力的任意传感器(附加的应变计或测力传感器)来辅助确定在紧固件装置10的操作期间放置在电动机400上的负荷。反馈传感器612还与控制器500电通信并且可以辅助检测指示与控制器500通信的紧固件装置10的运作和/或夹紧的组织会出现的潜在问题的异常负荷(例如，在预定负荷范围之外)。
再次参照图1，控制器500可以是包括在装置10内的微控制器，(例如，包括在装置10的手柄100内)或者可以在紧固件装置10的外部。控制器500包括用于存储可以通过输入装置504键入、输入或采集的数据的存储器或存储设备502。存储器或存储设备502包括在使用紧固件装置10之前所确定的直线位置传感器604的校准数据(CD)506。校准数据506包括推动器206的位置以及在发射行程期间在推动器206的多个位置处取得或计算的施加在应变计610上的对应力或对应应变。该信息或数据将基于应变计610上所检测到的应变向临床医生提供推动器206在发射行程期间的位置的指示，并且因此将有助于确保推动器206前进或行进而通过期望距离以确保组织的有效吻合。可视显示器508可以与控制器500通信来提供推动器206的位置的图形读数或数字读数(或任何其他可视标记)以进一步辅助临床医生。可视显示器508还可以基于从反馈传感器612接收的反馈(例如，一个或多个信号)来提供各种操作参数的可视标记。还构思了音频输出510(包括例如音调、铃声、蜂鸣器、集成扬声器等)。音频输出510可以与可视显示器508结合使用或代替可视显示器508使用。
现在将描述传感器组件600用于紧固件装置10的使用。在使用之前，校准紧固件装置10的直线位置传感器604，并且校准数据506经由输入设备504键入到与控制器500相关联的存储器502中。其他数据可以经由输入设备504输入用于通过控制器500进行后续处理，包括患者的履历数据、紧固件或吻合钉的尺寸、细长工具200的类型、组织特性等。基于校准数据506和/或其他输入数据，控制器500可以选择紧固件装置10的操作的具体程序。
在完成数据输入时，组织部分如常规圆形吻合术操作一样关于砧座304和紧固件仓302定位。
经由致动器104、106和108中的一个或多个致动引起电动机400的触发、砧座304与紧固件仓302的接近移动以及推动器206经过发射行程“m”的开始来触发紧固件装置10。推动器206从图6所描述的初始位置前进至推动器206的传感器接触表面212接触直线位置传感器604的弹簧608的图7的位置。在图6至7中，出于说明的目的，移除了细长工具200的外体202和末端执行器300的砧座304。如上所示，由于制造公差、在操作中所利用的细长工具200的内部部件的尺寸设定等，推动器206可以在传感器接触表面212与直线位置传感器604接触之前自由行进距离“d”(图6)。
参照图8，推动器206持续前进移动而经过发射行程引起推动器206的传感器接触表面212接合并弯曲直线位置传感器604的弹簧608，由此使应变计610受到增大的应变。应变计610向控制器500发送表示其所受到的应变或力的程度的至少一个输出信号610(图1)。与由应变计610发送的输出信号610相关联的数据与存储器502中的校准数据506进行比较，由控制器500的软件或逻辑来解释，以向临床医生提供推动器206的位置的精确表示。推动器206的位置可以以字母数字符号、图表、图形或任何其它标记的形式在可视显示器508上表示。推动器206的持续移动对应变计610施加较大的力或应变(或者在推动器206缩回的情况下，对应变计610施加较小的应变)，该力或应变经由附加输出信号610传送给控制器500并由控制器500处理，由此向临床医生提供对推动器206的位置的持续确认。在检测到对应于推动器206的发射行程的完成的应变时，经由控制器500和/或可视显示器508通知临床医生。图9图示了推动器206的发射行程的完成。
在图9中，以接近状态描绘了紧固件仓302和砧座304(虚线)，这可以根据控制器500的逻辑内的顺序或程序通过电动机400的运转来实现。于2014年10月21日提交的、共同受让的Cabrera等人的美国临时申请第62/066,518号的公开的全部内容通过引用并入本文，其公开了与电动手柄结合用于在打开状态与接近状态之间移动紧固件仓302和砧座304并且用于使紧固件推动器组件前进的机构。还参考了之前通过引用并入本文的Malinouskas等人的美国专利公开第2011/0121049号、Zemlok等人的美国专利公开第2013/0214025号和/或Milliman的美国专利公开第2015/0014393号。可替代地，紧固件仓302和砧座304可通过与手柄200相关联的一个或多个机械杆、可手动操纵构件等来接近。紧固件或吻合钉306被描绘成从紧固件仓302发射以穿过组织“t“并且由砧座304的砧座头308卷曲。
在发射行程期间，控制器500及相关联的逻辑可分别分析或解释来自直线位置传感器604和/或反馈传感器612的输出信号610、612(图1)，并控制或改变电动机的运行，包括经由电动机400的控制来改变推动器206的发射行程的速度、电动机400和推动器206的反向移动、改变推动器206的发射行程的距离和/或电动机400的停止运转。
图10图示了适合与紧固件装置10一起使用的一个末端执行器300的示例性部件。末端执行器300的紧固件仓302包括壳体310、推动器组件312、紧固件保持器314和刀具组件316。推动器组件312包括推动器接合器318和推动器构件320，推动器构件320通过任何常规布置与在细长工具200的外体202内延伸的推动器206联接。刀具组件316包括刀具架322和圆形刀具324，刀具架322和圆形刀具324也可以可操作地联接到推动器206。紧固件保持器314包括多个紧固件或吻合钉306。末端执行器300的砧座304包括砧座轴326，砧座轴326限定用于至少部分接收砧座保持器204(图2)的纵向孔328。当定位在纵向孔328内时，砧座保持器204和砧座304彼此联接。砧座304包括具有口袋(未示出)的圆形砧座头308，所述口袋接收并卷曲由紧固件保持器314射出的紧固件或吻合钉306。
提供以上描述和附图是出于描述本公开的实施例的目的，并不旨在以任何方式限制本公开的范围。对于本领域技术人员显而易见的是，可以不偏离本公开的精神或范围进行各种修改和变化。因而，本公开旨在覆盖本公开的修改和变化，只要它们落入所附权利要求及其等同内容的范围内。
Claims (15)
1.一种紧固件装置，包括：
手柄；
细长体，所述细长体连接到所述手柄，所述细长体限定纵向轴线并且具有近端和远端；
紧固件仓，所述紧固件仓邻近所述细长体的远端设置，所述紧固件仓具有至少一个紧固件；
推动器，所述推动器至少部分地设置在所述细长体内，所述推动器适于纵向移动经过发射行程以从所述紧固件仓射出所述至少一个紧固件；
直线位置传感器，所述直线位置传感器安装在所述细长体内，并且尺寸设定成并定位成在经过所述发射行程的移动期间接合所述推动器，所述直线位置传感器适于发送至少一个输出信号，所述至少一个输出信号表示在所述发射行程期间通过所述推动器施于所述直线位置传感器上的应变；和
控制器，所述控制器被配置成并适于基于所述至少一个输出信号来确定所述推动器在所述发射行程内的位置。
2.根据权利要求1所述的紧固件装置，其中，所述控制器包括存储器，所述存储器用于存储与在所述发射行程期间在所述推动器的多个位置处通过所述推动器施于所述直线位置传感器上的应变相关联的校准数据。
3.根据权利要求2所述的紧固件装置，其中，所述控制器被配置成将所述至少一个输出信号与所述校准数据进行比较，以确定所述推动器在所述发射行程内的位置。
4.根据权利要求2所述的紧固件装置，其中，所述直线位置传感器包括弹簧构件和安装到所述弹簧构件上的应变计，所述弹簧构件的尺寸设定成在经过所述发射行程移动期间通过所述推动器接合，所述应变计适于发送所述至少一个输出信号。
5.根据权利要求4所述的紧固件装置，其中，所述弹簧构件是以悬臂关系安装在所述细长体内的板簧。
6.根据权利要求4所述的紧固件装置，其中，所述推动器包含用于接合所述弹簧构件的传感器接触表面，所述传感器接触表面定位成在所述发射行程期间所述推动器移动时接合所述弹簧构件。
7.根据权利要求2所述的紧固件装置，包括电动机，所述电动机可操作地联接到所述推动器，用于控制所述推动器的移动。
8.根据权利要求7所述的紧固件装置，其中，所述控制器被配置成基于通过所述直线位置传感器发送的所述至少一个输出信号来控制所述电动机的运转。
9.根据权利要求8所述的紧固件装置，包括输入设备，所述输入设备用以提供输入数据以通过所述存储器来存储，所述输入数据包括所述校准数据、所述至少一个紧固件的尺寸、受检者的组织类型或履历数据中之一。
10.根据权利要求9所述的紧固件装置，其中，所述控制器被配置成基于所述输入数据来控制所述电动机的运转的至少一个参数。
11.根据权利要求7所述的紧固件装置，包括用以监测所述电动机的负荷状态的至少一个反馈传感器。
12.根据权利要求1所述的紧固件装置，包括用于显示对应于所述推动器在所述发射行程期间的位置的可视标记的可视显示器。
13.根据权利要求1所述的紧固件装置，其中，所述紧固件仓包括以环形阵列布置的多个紧固件，并且进一步包括相对于所述紧固件仓能安装的砧座，所述砧座包括尺寸设定成使所述紧固件成形的砧座头。
14.一种用于与包括至少一个推动器的类型的手术装置一起使用的传感器组件，至少一个推动器适于行进经过发射行程，所述传感器组件包括：
直线位置传感器，所述直线位置传感器能安装在所述手术装置内，并且尺寸设定成并定位成在经过所述发射行程的移动期间接合所述推动器，所述直线位置传感器适于发送至少一个输出信号，所述至少一个输出信号表示在所述发射行程期间通过所述推动器施于所述直线位置传感器上的应变；和
控制器，所述控制器被配置成并适于基于所述至少一个输出信号和存储在所述控制器的存储器内的校准数据来确定所述推动器在所述发射行程内的位置。
15.根据权利要求14所述的传感器组件，其中，所述直线位置传感器包括弹簧构件和安装到所述弹簧构件上的应变计，所述弹簧构件的尺寸设定成在经过所述发射行程的移动期间通过所述推动器接合，所述应变计适于发送所述至少一个输出信号。
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3178415B1 (en) | 2019-08-28 |
| US10390835B2 (en) | 2019-08-27 |
| EP3178415A1 (en) | 2017-06-14 |
| US20170164947A1 (en) | 2017-06-15 |
| CN106859718B (zh) | 2021-03-02 |
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