CN107072485B - 图像处理装置、图像处理方法以及程序 - Google Patents
图像处理装置、图像处理方法以及程序 Download PDFInfo
- Publication number
- CN107072485B CN107072485B CN201580060121.8A CN201580060121A CN107072485B CN 107072485 B CN107072485 B CN 107072485B CN 201580060121 A CN201580060121 A CN 201580060121A CN 107072485 B CN107072485 B CN 107072485B
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- image
- light image
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
- A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/046—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for infrared imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0638—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements providing two or more wavelengths
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
- A61B5/02007—Evaluating blood vessel condition, e.g. elasticity, compliance
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
- G02B21/365—Control or image processing arrangements for digital or video microscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2484—Arrangements in relation to a camera or imaging device
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/044—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for absorption imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
- A61B5/0086—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters using infrared radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
- A61B5/02042—Determining blood loss or bleeding, e.g. during a surgical procedure
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Multimedia (AREA)
- Physiology (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Epidemiology (AREA)
- Primary Health Care (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Astronomy & Astrophysics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Analytical Chemistry (AREA)
- General Business, Economics & Management (AREA)
- Business, Economics & Management (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- Endoscopes (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-229368 | 2014-11-12 | ||
| JP2014229368A JP6432770B2 (ja) | 2014-11-12 | 2014-11-12 | 画像処理装置、画像処理方法、並びにプログラム |
| PCT/JP2015/005487 WO2016075890A2 (en) | 2014-11-12 | 2015-10-30 | Image processing apparatus, image processing method, and program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107072485A CN107072485A (zh) | 2017-08-18 |
| CN107072485B true CN107072485B (zh) | 2019-08-13 |
Family
ID=54542484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580060121.8A Active CN107072485B (zh) | 2014-11-12 | 2015-10-30 | 图像处理装置、图像处理方法以及程序 |
Country Status (5)
| Country | Link |
|---|---|
| US (2) | US10799101B2 (enExample) |
| EP (1) | EP3217855B1 (enExample) |
| JP (1) | JP6432770B2 (enExample) |
| CN (1) | CN107072485B (enExample) |
| WO (1) | WO2016075890A2 (enExample) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6626783B2 (ja) * | 2016-06-02 | 2019-12-25 | Hoya株式会社 | 画像処理装置および電子内視鏡システム |
| WO2018105020A1 (ja) * | 2016-12-05 | 2018-06-14 | オリンパス株式会社 | 内視鏡装置 |
| JP2018108173A (ja) | 2016-12-28 | 2018-07-12 | ソニー株式会社 | 医療用画像処理装置、医療用画像処理方法、プログラム |
| WO2018198251A1 (ja) * | 2017-04-26 | 2018-11-01 | オリンパス株式会社 | 画像処理装置、画像処理装置の作動方法及び画像処理装置の作動プログラム |
| WO2019045144A1 (ko) * | 2017-08-31 | 2019-03-07 | (주)레벨소프트 | 의료용 항법 장치를 위한 의료 영상 처리 장치 및 의료 영상 처리 방법 |
| CN107741637A (zh) * | 2017-11-24 | 2018-02-27 | 南京图思灵智能科技有限责任公司 | 一种双通道组织样品扫描仪和双通道组织样品数字成像复现系统 |
| EP3505059B1 (en) * | 2017-12-28 | 2025-08-27 | Leica Instruments (Singapore) Pte. Ltd. | Apparatus and method for measuring blood flow direction using a fluorophore |
| US11564678B2 (en) * | 2018-07-16 | 2023-01-31 | Cilag Gmbh International | Force sensor through structured light deflection |
| KR102545980B1 (ko) | 2018-07-19 | 2023-06-21 | 액티브 서지컬, 인크. | 자동화된 수술 로봇을 위한 비전 시스템에서 깊이의 다중 모달 감지를 위한 시스템 및 방법 |
| SG11202101620UA (en) * | 2018-08-21 | 2021-03-30 | Waertsilae Finland Oy | Method and apparatus for plain bearing crush height measurement |
| JP7286948B2 (ja) * | 2018-11-07 | 2023-06-06 | ソニーグループ株式会社 | 医療用観察システム、信号処理装置及び医療用観察方法 |
| WO2020140042A1 (en) | 2018-12-28 | 2020-07-02 | Activ Surgical, Inc. | User interface elements for orientation of remote camera during surgery |
| EP3903165A4 (en) | 2018-12-28 | 2023-01-25 | Activ Surgical, Inc. | SYSTEMS AND METHODS TO OPTIMIZE AVAILABILITY, WORKPLACE AND SKILL IN MINIMALLY INVASIVE SURGERY |
| WO2020188727A1 (ja) * | 2019-03-19 | 2020-09-24 | オリンパス株式会社 | 内視鏡装置、内視鏡装置の作動方法及びプログラム |
| CN110009673B (zh) * | 2019-04-01 | 2020-04-21 | 四川深瑞视科技有限公司 | 深度信息检测方法、装置及电子设备 |
| KR20220021920A (ko) | 2019-04-08 | 2022-02-22 | 액티브 서지컬, 인크. | 의료 이미징을 위한 시스템 및 방법 |
| US12292564B2 (en) | 2019-04-08 | 2025-05-06 | Activ Surgical, Inc. | Systems and methods for medical imaging |
| WO2020214821A1 (en) | 2019-04-19 | 2020-10-22 | Activ Surgical, Inc. | Systems and methods for trocar kinematics |
| JP7354608B2 (ja) * | 2019-06-21 | 2023-10-03 | ソニーグループ株式会社 | 医療用観察システム、医療用観察方法、および情報処理装置 |
| WO2021035094A1 (en) | 2019-08-21 | 2021-02-25 | Activ Surgical, Inc. | Systems and methods for medical imaging |
| CN114364298A (zh) * | 2019-09-05 | 2022-04-15 | 奥林巴斯株式会社 | 内窥镜系统、处理系统、内窥镜系统的工作方法以及图像处理程序 |
| US11219501B2 (en) * | 2019-12-30 | 2022-01-11 | Cilag Gmbh International | Visualization systems using structured light |
| CN117441342A (zh) * | 2021-07-06 | 2024-01-23 | 三星电子株式会社 | 用于图像处理的电子装置及其操作方法 |
| CN114469008A (zh) * | 2022-03-09 | 2022-05-13 | 浙江大学 | 基于血管近红外成像的血管穿刺难易智能分级装置 |
| TWI857546B (zh) * | 2022-10-12 | 2024-10-01 | 國立臺北科技大學 | 用於產生一組合式即時手術影像的系統及其方法 |
| CN120641028A (zh) * | 2023-02-09 | 2025-09-12 | 奥林巴斯医疗株式会社 | 医疗用装置、医疗系统、医疗用装置的工作方法以及医疗用装置的工作程序 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050065436A1 (en) * | 2003-09-23 | 2005-03-24 | Ho Winston Zonh | Rapid and non-invasive optical detection of internal bleeding |
| US20080009669A1 (en) * | 2005-01-19 | 2008-01-10 | Olympus Corporation | Electronic endoscope apparatus and image processing device |
| CN102695446A (zh) * | 2009-12-28 | 2012-09-26 | 奥林巴斯株式会社 | 图像处理装置、电子设备、程序和图像处理方法 |
| EP2505121A1 (en) * | 2011-04-01 | 2012-10-03 | Fujifilm Corporation | Endoscope apparatus |
Family Cites Families (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4025764B2 (ja) | 2004-08-31 | 2007-12-26 | オリンパス株式会社 | 内視鏡装置 |
| US8858425B2 (en) * | 2004-09-24 | 2014-10-14 | Vivid Medical, Inc. | Disposable endoscope and portable display |
| US7530948B2 (en) * | 2005-02-28 | 2009-05-12 | University Of Washington | Tethered capsule endoscope for Barrett's Esophagus screening |
| JP4818753B2 (ja) | 2006-02-28 | 2011-11-16 | オリンパス株式会社 | 内視鏡システム |
| US8090178B2 (en) * | 2006-04-06 | 2012-01-03 | Siemens Medical Solutions Usa, Inc. | System and method for automatic detection of internal structures in medical images |
| WO2008035685A1 (fr) * | 2006-09-19 | 2008-03-27 | Olympus Medical Systems Corporation | Dispositif de mesure de polarisation |
| WO2008102803A1 (ja) * | 2007-02-22 | 2008-08-28 | Olympus Medical Systems Corp. | 被検体内導入システム |
| JP2010537771A (ja) * | 2007-09-07 | 2010-12-09 | ユニヴァーシティ オブ ワシントン | テザー付きカプセル内視鏡の食道内配置の監視 |
| US9381273B2 (en) * | 2008-01-31 | 2016-07-05 | Yissum Research Development Company Of The Hebrew University Of Jerusalem | Scaffolds with oxygen carriers, and their use in tissue regeneration |
| JP2010022464A (ja) * | 2008-07-16 | 2010-02-04 | Fujifilm Corp | 画像取得方法および装置 |
| EP2335560B1 (en) * | 2008-10-17 | 2014-11-26 | Olympus Medical Systems Corp. | Endoscope system and endoscopic image processing apparatus |
| JP5767775B2 (ja) * | 2009-07-06 | 2015-08-19 | 富士フイルム株式会社 | 内視鏡装置 |
| JP5385176B2 (ja) * | 2009-09-28 | 2014-01-08 | 富士フイルム株式会社 | 画像表示装置の作動方法および画像表示装置 |
| US9333036B2 (en) * | 2010-01-22 | 2016-05-10 | Board Of Regents, The University Of Texas System | Systems, devices and methods for imaging and surgery |
| JP2011239259A (ja) * | 2010-05-12 | 2011-11-24 | Sony Corp | 画像処理装置、画像処理方法及びプログラム |
| EP2532299B1 (en) * | 2010-09-14 | 2014-11-05 | Olympus Medical Systems Corp. | Endoscope system and low visibility determining method |
| JP5855358B2 (ja) * | 2011-05-27 | 2016-02-09 | オリンパス株式会社 | 内視鏡装置及び内視鏡装置の作動方法 |
| JP6120770B2 (ja) * | 2011-06-28 | 2017-04-26 | オリンパス株式会社 | 分光画像取得装置 |
| JP5815426B2 (ja) * | 2012-01-25 | 2015-11-17 | 富士フイルム株式会社 | 内視鏡システム、内視鏡システムのプロセッサ装置、及び画像処理方法 |
| JP5829568B2 (ja) * | 2012-04-11 | 2015-12-09 | 富士フイルム株式会社 | 内視鏡システム、画像処理装置、画像処理装置の作動方法、及び画像処理プログラム |
| WO2014013950A1 (ja) * | 2012-07-19 | 2014-01-23 | 独立行政法人 国立長寿医療研究センター | 歯垢、歯肉及び歯槽骨の計測表示方法及び計測表示装置 |
| JP5771757B2 (ja) * | 2013-04-12 | 2015-09-02 | オリンパス株式会社 | 内視鏡システム及び内視鏡システムの作動方法 |
| WO2014209806A1 (en) * | 2013-06-24 | 2014-12-31 | Theranova, Llc | Devices and methods for determining menstrual blood loss |
| US9295372B2 (en) * | 2013-09-18 | 2016-03-29 | Cerner Innovation, Inc. | Marking and tracking an area of interest during endoscopy |
| US9645074B2 (en) * | 2014-02-06 | 2017-05-09 | Panasonic Intellectual Property Management Co., Ltd. | Image processing apparatus |
| CN110074863B (zh) * | 2014-07-25 | 2021-11-02 | 柯惠Lp公司 | 用于机器人手术系统的增强手术现实环境 |
-
2014
- 2014-11-12 JP JP2014229368A patent/JP6432770B2/ja active Active
-
2015
- 2015-10-30 CN CN201580060121.8A patent/CN107072485B/zh active Active
- 2015-10-30 WO PCT/JP2015/005487 patent/WO2016075890A2/en not_active Ceased
- 2015-10-30 EP EP15794658.3A patent/EP3217855B1/en not_active Not-in-force
- 2015-10-30 US US15/329,313 patent/US10799101B2/en active Active
-
2020
- 2020-10-09 US US17/066,504 patent/US11766167B2/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050065436A1 (en) * | 2003-09-23 | 2005-03-24 | Ho Winston Zonh | Rapid and non-invasive optical detection of internal bleeding |
| US20080009669A1 (en) * | 2005-01-19 | 2008-01-10 | Olympus Corporation | Electronic endoscope apparatus and image processing device |
| CN102695446A (zh) * | 2009-12-28 | 2012-09-26 | 奥林巴斯株式会社 | 图像处理装置、电子设备、程序和图像处理方法 |
| EP2505121A1 (en) * | 2011-04-01 | 2012-10-03 | Fujifilm Corporation | Endoscope apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| US10799101B2 (en) | 2020-10-13 |
| CN107072485A (zh) | 2017-08-18 |
| WO2016075890A3 (en) | 2016-10-27 |
| JP6432770B2 (ja) | 2018-12-05 |
| WO2016075890A2 (en) | 2016-05-19 |
| US20210030264A1 (en) | 2021-02-04 |
| US11766167B2 (en) | 2023-09-26 |
| US20170209031A1 (en) | 2017-07-27 |
| EP3217855A2 (en) | 2017-09-20 |
| JP2016093210A (ja) | 2016-05-26 |
| EP3217855B1 (en) | 2021-09-15 |
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