CN204219047U - A kind of electromagnetic location labelling apparatus, electromagnetic positioning system - Google Patents
A kind of electromagnetic location labelling apparatus, electromagnetic positioning system Download PDFInfo
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- CN204219047U CN204219047U CN201420649659.5U CN201420649659U CN204219047U CN 204219047 U CN204219047 U CN 204219047U CN 201420649659 U CN201420649659 U CN 201420649659U CN 204219047 U CN204219047 U CN 204219047U
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- alignment sensor
- sensor
- labelling apparatus
- mounting groove
- electromagnetic location
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Abstract
This utility model provides a kind of electromagnetic location labelling apparatus, electromagnetic positioning system, this device comprises: sensor localization mounting blocks, the upper cover covering described sensor localization mounting blocks, the first alignment sensor, the second alignment sensor, described sensor localization mounting blocks is also provided with and embeds locating hole for the activity of metal marker point; Described first alignment sensor, described second alignment sensor are fixed in described sensor localization mounting blocks, described first alignment sensor, described second alignment sensor and described locating hole be centrally located on same plane, described locating hole is arranged on the midpoint of described first alignment sensor, described second alignment sensor line.This utility model synthesizes a six degree of freedom alignment sensor by utilizing the alignment sensor of two five degree of freedom, and cost of manufacture is low; Eliminate doctor simultaneously and manually get work a little, simplify surgical procedure, improve procedure efficiency.
Description
Technical field
This utility model relates to a kind of electromagnetic location labelling apparatus, electromagnetic positioning system, belongs to medical imaging technology field.
Background technology
At present, operation guiding system can help doctor outstanding complete all kinds of surgical operation, its function be utilize CT scan obtain image, the position of real-time tracking operating theater instruments in Mapping System.In surgical navigational, the foundation (utilizing electromagnetic positioning system ordinate transform) of image coordinate system is a very crucial link, this link mainly realizes operating theater instruments and changes in the position of electromagnetic positioning system to picture system, like this in operation, in image, real-time tracking is the relative position of operating theater instruments and human body, and is actually consistent.
Electromagnetic positioning system (the Aurora system as NDI company) includes magnetic field generator and alignment sensor, system can the electromagnetic positioning system coordinate system of Real-time Obtaining alignment sensor in the magnetic field space of magnetic field generator, by in this alignment sensor implant surgery apparatus, the position of operating theater instruments in electromagnetic positioning system coordinate system can be obtained.In surgical navigational software, finally electromagnetic positioning system ordinate transform is become 3-D view coordinate system, thus obtain operating theater instruments position coordinates in imaging systems.
The foundation of image coordinate system can adopt manual registration four not realize at conplane gauge point, these four points by CT surface sweeping display in the picture, utilize the probe being provided with alignment sensor to go these four points some to obtain their position in electromagnetic positioning system coordinate system, there is known their coordinates in electromagnetic positioning system and relative position in the picture just can be changed.The defect of this method is in operation, need doctor manually to go to register this four points, and the action of patient, breathing, heart beating, vasodilation and magnetic field generator vibration all can affect the precision of surgical navigational.
Utility model content
The technical problems to be solved in the utility model is in avoiding electromagnetic positioning operation to navigate, manual registration gauge point problems such as initial point is complicated of bringing the not high and host computer of accuracy to obtain.
For realizing above-mentioned utility model object, this utility model provides a kind of electromagnetic location labelling apparatus, electromagnetic positioning system.
On the one hand, this utility model provides a kind of electromagnetic location labelling apparatus, comprise: sensor localization mounting blocks, the upper cover covering described sensor localization mounting blocks, the first alignment sensor, the second alignment sensor, described sensor localization mounting blocks is also provided with and embeds locating hole for the activity of metal marker point;
Described first alignment sensor, described second alignment sensor are fixed in described sensor localization mounting blocks, described first alignment sensor, described second alignment sensor and described locating hole be centrally located on same plane, described locating hole is arranged on the midpoint of described first alignment sensor, described second alignment sensor line.
Wherein more preferably, described first alignment sensor, described second alignment sensor are the electromagnetic location sensors of 5DOF.
Wherein more preferably, described sensor mounting blocks is also provided with the first alignment sensor mounting groove and the second alignment sensor mounting groove, and at least one end of described first alignment sensor mounting groove and the second alignment sensor mounting groove is communicated with described sensor localization mounting blocks edge and forms line outlet; Described first alignment sensor, described second alignment sensor are arranged in described first alignment sensor mounting groove, the second alignment sensor mounting groove respectively, and the lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet.
Wherein more preferably, described sensor mounting blocks is also provided with the first alignment sensor mounting groove, the second alignment sensor mounting groove, line outlet groove;
Described first alignment sensor, described second alignment sensor are arranged in described first alignment sensor mounting groove, the second alignment sensor mounting groove respectively, and described first alignment sensor mounting groove is crossing with the second alignment sensor mounting groove; One end of described line outlet groove is connected with the point of intersection of the second alignment sensor mounting groove with described first alignment sensor mounting groove, and the other end is communicated with described sensor localization mounting blocks edge and forms line outlet;
The lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet through described line outlet groove.
Wherein more preferably, described sensor mounting blocks is also provided with the first alignment sensor mounting groove, the second alignment sensor is 90 degree of angles.
Wherein more preferably, also comprise pillar, one end of pillar is fixed on the other end in line outlet groove and stretches out described line outlet, and the lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet through described pillar.
On the other hand, this utility model also provides a kind of electromagnetic positioning system, comprises multiple electromagnetic location labelling apparatus, multiple metal marker point and controller that application is above-mentioned;
Described multiple electromagnetic location labelling apparatus is connected with described controller;
Described multiple metal marker point embeds the locating hole of described multiple electromagnetic location labelling apparatus;
Controller obtains the coordinate of the first alignment sensor, described second alignment sensor described in described each electromagnetic location labelling apparatus, and described controller calculates the electromagnetism coordinate of described multiple metal marker point according to the coordinate of the first alignment sensor described in each electromagnetic location labelling apparatus obtained, described second alignment sensor.
Wherein more preferably, the upper surface of described metal marker point overlaps with the center of described locating hole.
A kind of electromagnetic location labelling apparatus, electromagnetic positioning system that this utility model provides, this utility model is separated use by metal marker point with electromagnetic location labelling apparatus, only need before surgery CT scan time stick metal marker point, paste again during operation and buckle electromagnetic location labelling apparatus, unnecessary trouble can not be increased to CT scan, simplify surgical procedure, improve procedure efficiency; Utility model utilizes electromagnetic location labelling apparatus to replace hand labeled registration thing, eliminates the work of manually getting a little; Also eliminate simultaneously and manually get a little coarse impact, also reduce vibration because of the movement of patient, breathing, heart beating and magnetic field generator to the impact of navigation accuracy; Utilize the alignment sensor of two five degree of freedom to synthesize a six degree of freedom alignment sensor in this utility model, cost is lower, and can in electromagnetic positioning system Real-time Obtaining coordinate, accurate positioning; This utility model utilizes two specific size positions relations of alignment sensor, can obtain the initial point of electromagnetic location labelling apparatus, eliminates the programing work that upper computer software obtains the series of complex pose conversion of initial point.
Accompanying drawing explanation
Fig. 1 is the schematic diagram after the encapsulation of electromagnetic location labelling apparatus;
Fig. 2 is the structural representation that locating piece installed by sensor;
Fig. 3 is the internal view of electromagnetic location labelling apparatus;
Fig. 4 is the scheme of installation of alignment sensor;
Fig. 5 is the local Coordinate System schematic diagram of electromagnetic location labelling apparatus.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following examples for illustration of this utility model, but are not used for limiting scope of the present utility model.
As shown in Fig. 1 ~ Fig. 5, this utility model provides a kind of electromagnetic location labelling apparatus, it is characterized in that, sensor localization mounting blocks 1, cover upper cover 2, first alignment sensor 5, second alignment sensor 5 of described sensor localization mounting blocks, described sensor localization mounting blocks is also provided with and embeds locating hole 104 for the activity of metal marker point; Described first alignment sensor 5, described second alignment sensor 6 to be fixed in described sensor localization mounting blocks 1, described first alignment sensor 5, described second alignment sensor 6 and described locating hole 104 be centrally located on same plane, described locating hole 104 is arranged on the midpoint of described first alignment sensor 5, described second alignment sensor 5 line.The electromagnetic location labelling apparatus provided this utility model below launches to describe in detail.
As shown in Fig. 1 ~ Fig. 5, in an embodiment of the present utility model, provide a kind of electromagnetic location labelling apparatus, it comprises: sensor localization mounting blocks 1, upper cover 2, pillar 3, sensor lead 4, first alignment sensor 5, second alignment sensor 6.After having been placed by first alignment sensor 5, second alignment sensor 6, one end that sensor lead 4 installs locating piece 1 by sensor is drawn, and is protected by pillar 3, finally upper cover 2 is buckled in the top of sensor localization mounting blocks 1, carries out encapsulation process.Metal marker point 7 embeds in sensor localization mounting blocks and supports the use.
In an embodiment of our utility model, described sensor mounting blocks 1 is also provided with the first alignment sensor mounting groove 102 and the second alignment sensor mounting groove 103, and at least one end of described first alignment sensor mounting groove 102 and the second alignment sensor mounting groove 103 is communicated with described sensor localization mounting blocks edge and forms line outlet; Described first alignment sensor 5, described second alignment sensor divide 6 not to be arranged in described first alignment sensor mounting groove 102, second alignment sensor mounting groove 103, and the lead-in wire of described first alignment sensor 5, described second alignment sensor 6 passes from line outlet.
In another embodiment of the present utility model, described sensor mounting blocks is also provided with the first alignment sensor mounting groove 102, second alignment sensor mounting groove 103, line outlet groove 101;
Described first alignment sensor 5, described second alignment sensor 6 are arranged in described first alignment sensor mounting groove 102, second alignment sensor mounting groove 103 respectively, and described first alignment sensor mounting groove 102 is crossing with the second alignment sensor mounting groove 103; One end of described line outlet groove 101 is connected with the point of intersection of the second alignment sensor mounting groove 103 with described first alignment sensor mounting groove 102, and the other end is communicated with described sensor localization mounting blocks 1 edge and forms line outlet; The lead-in wire of described first alignment sensor 5, described second alignment sensor 6 passes from line outlet through described line outlet groove.In first alignment sensor mounting groove 102, second alignment sensor mounting groove 103 and line outlet groove 101 form Y shape groove.As shown in Figure 2, in order to make the first alignment sensor 5, described second alignment sensor 6 synthesizes 6DOF sensor, first alignment sensor mounting groove 102 of Y type groove and the second alignment sensor mounting groove 103 are made to 90 degree, are also provided with line outlet groove 101 at their joint.As shown in Figure 3, before use, be placed on by the first alignment sensor 5 in first alignment sensor mounting groove 102, the second alignment sensor 6 is placed in the second alignment sensor mounting groove 103.After first alignment sensor 5 and the second alignment sensor 6 are fixed, its end leads is passed from pillar 3 by line outlet groove 101, is welded on adapter.
The center that locating piece 1 installed by this sensor is also provided with locating hole 104.First alignment sensor 5 and the second alignment sensor 6 are five degree of freedom sensor, are placed in the first alignment sensor mounting groove 102 by the first alignment sensor 5, preferably stick with glue and connect; Second alignment sensor 6 is placed in the second alignment sensor mounting groove 103, preferably also sticks with glue and connects.First alignment sensor 5 must meet following condition with the position that the second alignment sensor 6 is placed: (1) setting height(from bottom) is consistent, and namely central cross-section at grade; The line of centres of (2) first alignment sensors 5 and the second alignment sensor 6, its mid point in the position of locating hole 104, as shown in Figure 4.Described metal marker point 7 is in the same size with the locating hole 104 on sensor localization mounting blocks 1, can embed easily and extract, after described metal marker point embeds locating hole 104, as shown in Figure 2, the head end 701 of metal marker point is concordant with the height of the first alignment sensor 5, second alignment sensor 6.
By the above, fixed form is installed, utilizes the alignment sensor of two five degree of freedom to synthesize the electromagnetic location sensor of a six degree of freedom.Particularly, utilize the data volume of two 5DOFs, in conjunction with the position quantity of relative 90 degree of two sensors, utilize mathematic vector computing formula to draw single 6DOF sensing data amount.It is much lower that this utility model adopts two five degree of freedom alignment sensors to compare a six degree of freedom alignment sensor cost.The X-direction of this six degree of freedom electromagnetic location sensor is parallel with the second alignment sensor 6 with the first alignment sensor 5 respectively with Y-direction, and Z-direction is perpendicular to XY plane.Also be the center of metal marker point 7 head end 701.
This utility model by 90 degree of pose assemblings by two five degree of freedom alignment sensors, is utilized the specific size positions relation of two alignment sensors, knows its zero and coordinate system direction by geometrical relationship, and install metal marker point at its zero place.Thus directly can obtain the initial point of electromagnetic location labelling apparatus, i.e. the center superposition of the head end 701 of its initial point and metal marker point.Two 5DOF sensors are 90 degree vertically put, the data of two sensor acquisitions are coordinate and the side vector of respective center sensor, utilize the conversion of NDI system to show that the coordinate position of required 6DOF sensor is the point midway of two 5DOF center sensor lines, side vector is converted to according to vector form by above-mentioned two sensor orientation amount data.Do not need namely to obtain this fixing zero by the evolution that host computer is any, thus eliminate the programing work of upper computer software to the pose conversion of the initial point series of complex of acquisition electromagnetic location labelling apparatus.
For embodying the superiority of above-mentioned electromagnetic location labelling apparatus further, this utility model also provides a kind of electromagnetic positioning system, apply above-mentioned electromagnetic location labelling apparatus, this system comprises: multiple electromagnetic location labelling apparatus, multiple metal marker point 7 and controller; Described multiple electromagnetic location labelling apparatus is connected with described controller; Described multiple metal marker point 7 embeds the locating hole 104 of described multiple electromagnetic location labelling apparatus; Controller obtains the coordinate of the first alignment sensor 5, described second alignment sensor 6 described in described each electromagnetic location labelling apparatus, and described controller calculates the electromagnetism coordinate of described multiple metal marker point 7 according to the coordinate of the first alignment sensor 5 described in each electromagnetic location labelling apparatus obtained, described second alignment sensor 6.Detailed description is launched to the electromagnetic location Mk system that this utility model provides below.
This utility model further provides a kind of electromagnetic location Mk system, comprising: electromagnetic location labelling apparatus, metal marker point 7 and controller.Metal marker point 7 and electromagnetic location labelling apparatus support the use.The bottom of metal marker point 7 can with sticker human skin.Before the surgery, three metal marker points 7 are attached to the skin surface of patient, complete CT scan.During operation, use the electromagnetic location labelling apparatus with multiple metal marker point equal number, multiple metal marker point is embedded described multiple electromagnetic location labelling apparatus.Controller obtains the coordinate of the first alignment sensor 5, described second alignment sensor 6 described in described each electromagnetic location labelling apparatus, and described controller calculates the electromagnetism coordinate of described multiple metal marker point 7 according to the coordinate of the first alignment sensor 5 described in each electromagnetic location labelling apparatus obtained, described second alignment sensor 6.During multiple metal marker point embedding described multiple electromagnetic location labelling, the upper surface of described metal marker point overlaps with the center of described locating hole.
In this utility model, when connecting electromagnetic location labelling apparatus and controller, after described first alignment sensor 5 and the second alignment sensor 6 are fixed, its end leads passes from pillar 3, is welded on adapter.Upper cover 2 is buckled in the top of sensor localization mounting blocks, carries out encapsulation process.Electromagnetic location labelling apparatus is by adapter connection control device.
The coordinate position of three metal marker points in picture system coordinate system is known, utilize electromagnetic positioning system, automatic acquisition three metal marker points are at the coordinate of electromagnetic positioning system coordinate system, the foundation of coordinate system and relative conversion is realized by computer, (particularly, according to the position data that NDI Aurora electromagnetic tracking system local Coordinate System obtains, the position data of computer coordinate system is converted to through matrix product) thus realize in surgical navigational, operating theater instruments and the relative position of human body in the relative position and reality of picture system are consistent.
This utility model has fixing relative position by utilizing electromagnetic location labelling apparatus and metal marker point, contribute to obtaining same point (metal marker point) respectively at the coordinate of electromagnetic positioning system and picture system, be labeled the spatial coordinate location of thing to help to calculate, thus remove manual registration from and obtain the work of this point (metal marker point) at the coordinate of electromagnetic positioning system.Meanwhile, only need before surgery CT scan time stick metal marker point, paste again during operation and buckle electromagnetic location labelling apparatus, unnecessary trouble can not be increased to CT scan, simplify surgical procedure, improve procedure efficiency.
The work process of a kind of electromagnetic location Mk system that this utility model provides is such: multiple metal marker point is fixed on human body correct position; The image coordinate of multiple metal marker point is obtained by CT scan; Use the electromagnetic location labelling apparatus with multiple metal marker point equal number, multiple metal marker point is embedded described multiple electromagnetic location labelling apparatus; Obtain the electromagnetism coordinate of described multiple metal marker point; The space coordinates obtaining operating theater instruments is calculated according to described image coordinate and electromagnetism coordinate.Particularly, three metal marker points are attached to human body correct position and scan by (1) respectively, obtain the image coordinate of described metal marker point under picture system coordinate by CT scan; (2) use the electromagnetic location labelling apparatus with multiple metal marker point equal number, multiple metal marker point is embedded described multiple electromagnetic location labelling apparatus; Obtain the electromagnetism coordinate of described metal marker point under electromagnetic positioning system coordinate system; (3) calculate according to described image coordinate and electromagnetism coordinate the space coordinates obtaining operating theater instruments.Particularly, realize coordinate system according to vector and transition matrix product to switch.
In sum, a kind of electromagnetic location labelling apparatus, electromagnetic positioning system that this utility model provides, use is separated with electromagnetic location labelling apparatus by metal marker point, only need before surgery CT scan time stick metal marker point, paste again during operation and buckle electromagnetic location labelling apparatus, unnecessary trouble can not be increased to CT scan, simplify surgical procedure, improve procedure efficiency; Utility model utilizes electromagnetic location labelling apparatus to replace hand labeled registration thing, eliminates the work of manually getting a little; Also eliminate simultaneously and manually get a little coarse impact, also reduce vibration because of the movement of patient, breathing, heart beating and magnetic field generator to the impact of navigation accuracy; Utilize the alignment sensor of two five degree of freedom to synthesize a six degree of freedom alignment sensor in this utility model, cost is lower, and can in electromagnetic positioning system Real-time Obtaining coordinate, accurate positioning; This utility model utilizes two specific size positions relations of alignment sensor, can obtain the initial point of electromagnetic location labelling apparatus, eliminates the programing work that upper computer software obtains the series of complex pose conversion of initial point.
Above embodiment is only for illustration of this utility model; and be not limitation of the utility model; the those of ordinary skill of relevant technical field; when not departing from spirit and scope of the present utility model; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present utility model, and scope of patent protection of the present utility model should be defined by the claims.
Claims (9)
1. an electromagnetic location labelling apparatus, it is characterized in that, comprise: sensor localization mounting blocks, the upper cover covering described sensor localization mounting blocks, the first alignment sensor, the second alignment sensor, described sensor localization mounting blocks is also provided with and embeds locating hole for the activity of metal marker point;
Described first alignment sensor, described second alignment sensor are fixed in described sensor localization mounting blocks, described first alignment sensor, described second alignment sensor and described locating hole be centrally located on same plane, described locating hole is arranged on the midpoint of described first alignment sensor, described second alignment sensor line.
2. electromagnetic location labelling apparatus as claimed in claim 1, it is characterized in that, described first alignment sensor, described second alignment sensor are the electromagnetic location sensors of 5DOF.
3. electromagnetic location labelling apparatus as claimed in claim 1, it is characterized in that, described sensor mounting blocks is also provided with the first alignment sensor mounting groove and the second alignment sensor mounting groove, and at least one end of described first alignment sensor mounting groove and the second alignment sensor mounting groove is communicated with described sensor localization mounting blocks edge and forms line outlet; Described first alignment sensor, described second alignment sensor are arranged in described first alignment sensor mounting groove, the second alignment sensor mounting groove respectively, and the lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet.
4. electromagnetic location labelling apparatus as claimed in claim 1, it is characterized in that, described sensor mounting blocks is also provided with the first alignment sensor mounting groove, the second alignment sensor mounting groove, line outlet groove;
Described first alignment sensor, described second alignment sensor are arranged in described first alignment sensor mounting groove, the second alignment sensor mounting groove respectively, and described first alignment sensor mounting groove is crossing with the second alignment sensor mounting groove; One end of described line outlet groove is connected with the point of intersection of the second alignment sensor mounting groove with described first alignment sensor mounting groove, and the other end is communicated with described sensor localization mounting blocks edge and forms line outlet;
The lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet through described line outlet groove.
5. electromagnetic location labelling apparatus as claimed in claim 4, is characterized in that, described sensor mounting blocks is also provided with the first alignment sensor mounting groove, the second alignment sensor is 90 degree of angles.
6. electromagnetic location labelling apparatus as claimed in claim 4, it is characterized in that, also comprise pillar, one end of pillar is fixed on the other end in line outlet groove and stretches out described line outlet, and the lead-in wire of described first alignment sensor, described second alignment sensor passes from line outlet through described pillar.
7. electromagnetic location labelling apparatus as claimed in claim 1, it is characterized in that, described upper cover seals described sensor mounting blocks.
8. an electromagnetic positioning system, is characterized in that, comprises multiple electromagnetic location labelling apparatus described in claim 1-7 any one, multiple metal marker point and controller;
Described multiple electromagnetic location labelling apparatus is connected with described controller;
Described multiple metal marker point embeds the locating hole of described multiple electromagnetic location labelling apparatus;
Controller obtains the coordinate of the first alignment sensor, described second alignment sensor described in described each electromagnetic location labelling apparatus, and described controller calculates the electromagnetism coordinate of described multiple metal marker point according to the coordinate of the first alignment sensor described in each electromagnetic location labelling apparatus obtained, described second alignment sensor.
9. electromagnetic location labelling apparatus as claimed in claim 8, it is characterized in that, the upper surface of described metal marker point overlaps with the center of described locating hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420649659.5U CN204219047U (en) | 2014-11-03 | 2014-11-03 | A kind of electromagnetic location labelling apparatus, electromagnetic positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420649659.5U CN204219047U (en) | 2014-11-03 | 2014-11-03 | A kind of electromagnetic location labelling apparatus, electromagnetic positioning system |
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| CN204219047U true CN204219047U (en) | 2015-03-25 |
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| CN201420649659.5U Withdrawn - After Issue CN204219047U (en) | 2014-11-03 | 2014-11-03 | A kind of electromagnetic location labelling apparatus, electromagnetic positioning system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105559885A (en) * | 2015-12-16 | 2016-05-11 | 北京柏惠维康科技有限公司 | Coordinate point marking system in medical navigation |
| CN105616001A (en) * | 2014-11-03 | 2016-06-01 | 乐普（北京）医疗器械股份有限公司 | Electromagnetic positioning marking device as well as electromagnetic positioning system and method |
| WO2017113388A1 (en) * | 2015-12-31 | 2017-07-06 | 深圳市洛书和科技发展有限公司 | Body surface positioning system |
-
2014
- 2014-11-03 CN CN201420649659.5U patent/CN204219047U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105616001A (en) * | 2014-11-03 | 2016-06-01 | 乐普（北京）医疗器械股份有限公司 | Electromagnetic positioning marking device as well as electromagnetic positioning system and method |
| CN105559885A (en) * | 2015-12-16 | 2016-05-11 | 北京柏惠维康科技有限公司 | Coordinate point marking system in medical navigation |
| WO2017113388A1 (en) * | 2015-12-31 | 2017-07-06 | 深圳市洛书和科技发展有限公司 | Body surface positioning system |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150325 Effective date of abandoning: 20180105 |