DE102014218474A1 - Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie - Google Patents
Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie Download PDFInfo
- Publication number
- DE102014218474A1 DE102014218474A1 DE102014218474.6A DE102014218474A DE102014218474A1 DE 102014218474 A1 DE102014218474 A1 DE 102014218474A1 DE 102014218474 A DE102014218474 A DE 102014218474A DE 102014218474 A1 DE102014218474 A1 DE 102014218474A1
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- Germany
- Prior art keywords
- projection
- mirror
- mask
- projection objective
- displacement
- 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.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000001393 microlithography Methods 0.000 title description 7
- 238000003384 imaging method Methods 0.000 claims abstract description 29
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- 238000001900 extreme ultraviolet lithography Methods 0.000 description 2
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Images
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70216—Mask projection systems
- G03F7/70258—Projection system adjustments, e.g. adjustments during exposure or alignment during assembly of projection system
- G03F7/70266—Adaptive optics, e.g. deformable optical elements for wavefront control, e.g. for aberration adjustment or correction
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70008—Production of exposure light, i.e. light sources
- G03F7/70033—Production of exposure light, i.e. light sources by plasma extreme ultraviolet [EUV] sources
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70058—Mask illumination systems
- G03F7/7015—Details of optical elements
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70216—Mask projection systems
- G03F7/70233—Optical aspects of catoptric systems, i.e. comprising only reflective elements, e.g. extreme ultraviolet [EUV] projection systems
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70216—Mask projection systems
- G03F7/70258—Projection system adjustments, e.g. adjustments during exposure or alignment during assembly of projection system
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70216—Mask projection systems
- G03F7/70275—Multiple projection paths, e.g. array of projection systems, microlens projection systems or tandem projection systems
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Lenses (AREA)
- Exposure And Positioning Against Photoresist Photosensitive Materials (AREA)
- Optical Elements Other Than Lenses (AREA)
- Mounting And Adjusting Of Optical Elements (AREA)
- Microscoopes, Condenser (AREA)
- Exposure Of Semiconductors, Excluding Electron Or Ion Beam Exposure (AREA)
Priority Applications (12)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014218474.6A DE102014218474A1 (de) | 2014-09-15 | 2014-09-15 | Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie |
| KR1020177009820A KR102469060B1 (ko) | 2014-09-15 | 2015-09-07 | Euv 마이크로리소그라피를 위한 투영 렌즈, 투영 노광 장치 및 투영 노광 방법 |
| JP2017533703A JP6714595B2 (ja) | 2014-09-15 | 2015-09-07 | Euvマイクロリソグラフィのための投影レンズ、投影露光装置、及び投影露光方法 |
| CN202010179331.1A CN111505909A (zh) | 2014-09-15 | 2015-09-07 | 投射镜头、投射曝光设备和euv微光刻的投射曝光方法 |
| EP15759468.0A EP3195060B1 (en) | 2014-09-15 | 2015-09-07 | Projection lens, projection exposure apparatus and projection exposure method for euv microlithography |
| CN201580049768.0A CN107077074B (zh) | 2014-09-15 | 2015-09-07 | 投射镜头、投射曝光设备和euv微光刻的投射曝光方法 |
| PCT/EP2015/070391 WO2016041805A1 (en) | 2014-09-15 | 2015-09-07 | Projection lens, projection exposure apparatus and projection exposure method for euv microlithography |
| TW104130274A TWI681258B (zh) | 2014-09-15 | 2015-09-14 | 投影透鏡、投影曝光裝置、與euv微影的投影曝光方法 |
| TW108134443A TWI714278B (zh) | 2014-09-15 | 2015-09-14 | 投影透鏡、投影曝光裝置、與euv微影的投影曝光方法 |
| US15/441,441 US10048592B2 (en) | 2014-09-15 | 2017-02-24 | Projection lens, projection exposure apparatus and projection exposure method for EUV microlithography |
| US16/050,161 US10591825B2 (en) | 2014-09-15 | 2018-07-31 | Projection lens, projection exposure apparatus and projection exposure method for EUV microlithography |
| JP2020098462A JP7208953B2 (ja) | 2014-09-15 | 2020-06-05 | Euvマイクロリソグラフィのための投影レンズ、投影露光装置、及び投影露光方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014218474.6A DE102014218474A1 (de) | 2014-09-15 | 2014-09-15 | Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE102014218474A1 true DE102014218474A1 (de) | 2016-03-17 |
Family
ID=54062753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE102014218474.6A Ceased DE102014218474A1 (de) | 2014-09-15 | 2014-09-15 | Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie |
Country Status (8)
| Country | Link |
|---|---|
| US (2) | US10048592B2 (https=) |
| EP (1) | EP3195060B1 (https=) |
| JP (2) | JP6714595B2 (https=) |
| KR (1) | KR102469060B1 (https=) |
| CN (2) | CN111505909A (https=) |
| DE (1) | DE102014218474A1 (https=) |
| TW (2) | TWI714278B (https=) |
| WO (1) | WO2016041805A1 (https=) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016205072A1 (de) * | 2016-03-29 | 2017-03-16 | Carl Zeiss Smt Gmbh | Optisches System für die Mikrolithografie sowie Verfahren zum Betreiben eines optischen Systems für die Mikrolithografie |
| WO2018065183A1 (de) * | 2016-10-06 | 2018-04-12 | Carl Zeiss Smt Gmbh | Projektionsbelichtungsanlage und verfahren zur verringerung aus dynamischen beschleunigungen herrührenden deformationen von komponenten der projektionsbelichtungsanlage |
| WO2018134010A1 (en) * | 2017-01-17 | 2018-07-26 | Asml Netherlands B.V. | Lithographic apparatus and method |
| DE102022208204A1 (de) | 2022-08-08 | 2023-08-31 | Carl Zeiss Smt Gmbh | Verfahren zur Kompensation von Abbildungsfehlern einer EUV-Projektionsbelichtungsanlage |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014218474A1 (de) * | 2014-09-15 | 2016-03-17 | Carl Zeiss Smt Gmbh | Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie |
| DE102016212477A1 (de) * | 2016-07-08 | 2018-01-11 | Carl Zeiss Smt Gmbh | Messverfahren und Messsystem zur interferometrischen Vermessung der Abbildungsqualität eines optischen Abbildungssystems |
| DE102017216679A1 (de) * | 2017-09-20 | 2019-03-21 | Carl Zeiss Smt Gmbh | Mikrolithographische Projektionsbelichtungsanlage |
| CN118169959A (zh) * | 2017-10-11 | 2024-06-11 | Asml荷兰有限公司 | 图案化过程的优化流程 |
| KR102374206B1 (ko) | 2017-12-05 | 2022-03-14 | 삼성전자주식회사 | 반도체 장치 제조 방법 |
| JP2019124796A (ja) * | 2018-01-16 | 2019-07-25 | キヤノン株式会社 | 結像光学系、画像投射装置およびカメラシステム |
| DE102019200696B4 (de) * | 2019-01-21 | 2022-02-10 | Carl Zeiss Smt Gmbh | Vorrichtung, Verfahren und Computerprogram zum Bestimmen einer Position eines Elements auf einer fotolithographischen Maske |
| JP7357488B2 (ja) * | 2019-09-04 | 2023-10-06 | キヤノン株式会社 | 露光装置、および物品製造方法 |
| CN111381431B (zh) * | 2020-05-11 | 2021-04-13 | 江苏舜合物联网科技有限公司 | 投影画面跟随可卷曲屏幕同步升降或同步平移的实现方法 |
| JP2022022912A (ja) * | 2020-07-10 | 2022-02-07 | キヤノン株式会社 | 露光装置および物品製造方法 |
| CN113031201B (zh) * | 2021-03-15 | 2022-02-11 | 中国科学院长春光学精密机械与物理研究所 | 一种在轨补偿主镜曲率半径误差影响的调整方法 |
| DE102023130957A1 (de) * | 2023-11-08 | 2025-05-08 | Carl Zeiss Smt Gmbh | Verfahren zum Bestimmen wenigstens eines Manipulatorfreiheitsgrads, Verfahren zum Definieren wenigstens eines virtuellen Manipulators, Verfahren zum Betrieb einer Projektionsbelichtungsanlage sowie Projektionsbelichtungsanlage |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1039510A1 (en) | 1997-11-14 | 2000-09-27 | Nikon Corporation | Exposure apparatus and method of manufacturing the same, and exposure method |
| US6770894B1 (en) * | 1999-02-26 | 2004-08-03 | Carl Zeiss Smt Ag | Illumination system with field mirrors for producing uniform scanning energy |
| DE102004014766A1 (de) | 2003-04-02 | 2004-10-21 | Carl Zeiss Smt Ag | Verfahren zur Verzeichnungskorrektur in einer mikrolithographischen Projektionsbelichtungsanlage |
| US20070058269A1 (en) | 2005-09-13 | 2007-03-15 | Carl Zeiss Smt Ag | Catoptric objectives and systems using catoptric objectives |
| WO2011120821A1 (en) | 2010-03-30 | 2011-10-06 | Carl Zeiss Smt Gmbh | Method for operating a projection exposure apparatus with correction of imaging aberrations induced by the mask |
| WO2012034995A2 (en) | 2010-09-15 | 2012-03-22 | Carl Zeiss Smt Gmbh | Imaging optical system |
| WO2012041459A2 (en) | 2010-09-30 | 2012-04-05 | Carl Zeiss Smt Gmbh | Imaging optical system for microlithography |
Family Cites Families (18)
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| JP2000100685A (ja) * | 1998-09-17 | 2000-04-07 | Nikon Corp | 露光装置及び該装置を用いた露光方法 |
| JP2004023020A (ja) * | 2002-06-20 | 2004-01-22 | Nikon Corp | 投影光学系及び縮小投影露光装置 |
| US6897940B2 (en) | 2002-06-21 | 2005-05-24 | Nikon Corporation | System for correcting aberrations and distortions in EUV lithography |
| US6853440B1 (en) | 2003-04-04 | 2005-02-08 | Asml Netherlands B.V. | Position correction in Y of mask object shift due to Z offset and non-perpendicular illumination |
| JP2005166778A (ja) * | 2003-12-01 | 2005-06-23 | Canon Inc | 露光装置、デバイスの製造方法 |
| US7522260B1 (en) * | 2004-09-29 | 2009-04-21 | Carl Zeiss Smt Ag | Method for correcting astigmatism in a microlithography projection exposure apparatus, a projection objective of such a projection exposure apparatus, and a fabrication method for micropatterned components |
| JP5069232B2 (ja) * | 2005-07-25 | 2012-11-07 | カール・ツァイス・エスエムティー・ゲーエムベーハー | マイクロリソグラフィ投影露光装置の投影対物レンズ |
| CN100474115C (zh) * | 2006-04-04 | 2009-04-01 | 上海微电子装备有限公司 | 光刻机成像光学系统像差现场测量方法 |
| US7894038B2 (en) * | 2007-03-14 | 2011-02-22 | Asml Netherlands B.V. | Device manufacturing method, lithographic apparatus, and a computer program |
| EP2048540A1 (en) * | 2007-10-09 | 2009-04-15 | Carl Zeiss SMT AG | Microlithographic projection exposure apparatus |
| NL1036108A1 (nl) * | 2007-11-09 | 2009-05-12 | Asml Netherlands Bv | Device Manufacturing Method and Lithographic Apparatus, and Computer Program Product. |
| JP2009266886A (ja) * | 2008-04-22 | 2009-11-12 | Nikon Corp | マスク、マスク保持装置、露光装置及びデバイスの製造方法 |
| JP2009302149A (ja) * | 2008-06-10 | 2009-12-24 | Nikon Corp | 露光装置およびデバイスの製造方法 |
| JP2010245331A (ja) * | 2009-04-07 | 2010-10-28 | Canon Inc | 制御装置を備える光学素子駆動装置 |
| JP6410406B2 (ja) * | 2012-11-16 | 2018-10-24 | キヤノン株式会社 | 投影光学系、露光装置および物品の製造方法 |
| JP6013930B2 (ja) * | 2013-01-22 | 2016-10-25 | ルネサスエレクトロニクス株式会社 | 半導体装置の製造方法 |
| JP2014154721A (ja) * | 2013-02-08 | 2014-08-25 | Toshiba Corp | フォトマスク、フォトマスク作成装置およびフォトマスクの作製方法 |
| DE102014218474A1 (de) | 2014-09-15 | 2016-03-17 | Carl Zeiss Smt Gmbh | Projektionsobjektiv, Projektionsbelichtungsanlage und Projektionsbelichtungsverfahren für die EUV-Mikrolithographie |
-
2014
- 2014-09-15 DE DE102014218474.6A patent/DE102014218474A1/de not_active Ceased
-
2015
- 2015-09-07 WO PCT/EP2015/070391 patent/WO2016041805A1/en not_active Ceased
- 2015-09-07 CN CN202010179331.1A patent/CN111505909A/zh active Pending
- 2015-09-07 JP JP2017533703A patent/JP6714595B2/ja active Active
- 2015-09-07 CN CN201580049768.0A patent/CN107077074B/zh active Active
- 2015-09-07 EP EP15759468.0A patent/EP3195060B1/en active Active
- 2015-09-07 KR KR1020177009820A patent/KR102469060B1/ko active Active
- 2015-09-14 TW TW108134443A patent/TWI714278B/zh active
- 2015-09-14 TW TW104130274A patent/TWI681258B/zh active
-
2017
- 2017-02-24 US US15/441,441 patent/US10048592B2/en active Active
-
2018
- 2018-07-31 US US16/050,161 patent/US10591825B2/en active Active
-
2020
- 2020-06-05 JP JP2020098462A patent/JP7208953B2/ja active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1039510A1 (en) | 1997-11-14 | 2000-09-27 | Nikon Corporation | Exposure apparatus and method of manufacturing the same, and exposure method |
| US6770894B1 (en) * | 1999-02-26 | 2004-08-03 | Carl Zeiss Smt Ag | Illumination system with field mirrors for producing uniform scanning energy |
| DE102004014766A1 (de) | 2003-04-02 | 2004-10-21 | Carl Zeiss Smt Ag | Verfahren zur Verzeichnungskorrektur in einer mikrolithographischen Projektionsbelichtungsanlage |
| US7372539B2 (en) | 2003-04-02 | 2008-05-13 | Carl Zeiss Smt Ag | Method for distortion correction in a microlithographic projection exposure apparatus |
| US20070058269A1 (en) | 2005-09-13 | 2007-03-15 | Carl Zeiss Smt Ag | Catoptric objectives and systems using catoptric objectives |
| WO2011120821A1 (en) | 2010-03-30 | 2011-10-06 | Carl Zeiss Smt Gmbh | Method for operating a projection exposure apparatus with correction of imaging aberrations induced by the mask |
| WO2012034995A2 (en) | 2010-09-15 | 2012-03-22 | Carl Zeiss Smt Gmbh | Imaging optical system |
| WO2012041459A2 (en) | 2010-09-30 | 2012-04-05 | Carl Zeiss Smt Gmbh | Imaging optical system for microlithography |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016205072A1 (de) * | 2016-03-29 | 2017-03-16 | Carl Zeiss Smt Gmbh | Optisches System für die Mikrolithografie sowie Verfahren zum Betreiben eines optischen Systems für die Mikrolithografie |
| WO2018065183A1 (de) * | 2016-10-06 | 2018-04-12 | Carl Zeiss Smt Gmbh | Projektionsbelichtungsanlage und verfahren zur verringerung aus dynamischen beschleunigungen herrührenden deformationen von komponenten der projektionsbelichtungsanlage |
| CN109804315A (zh) * | 2016-10-06 | 2019-05-24 | 卡尔蔡司Smt有限责任公司 | 投射曝光设备及减小投射曝光设备的部件的来自动态加速度的形变的方法 |
| US10599051B2 (en) | 2016-10-06 | 2020-03-24 | Carl Zeiss Smt Gmbh | Projection exposure apparatus, and method for reducing deformations, resulting from dynamic accelerations, of components of the projection exposure apparatus |
| CN109804315B (zh) * | 2016-10-06 | 2021-09-28 | 卡尔蔡司Smt有限责任公司 | 投射曝光设备及减小投射曝光设备的部件的来自动态加速度的形变的方法 |
| WO2018134010A1 (en) * | 2017-01-17 | 2018-07-26 | Asml Netherlands B.V. | Lithographic apparatus and method |
| DE102022208204A1 (de) | 2022-08-08 | 2023-08-31 | Carl Zeiss Smt Gmbh | Verfahren zur Kompensation von Abbildungsfehlern einer EUV-Projektionsbelichtungsanlage |
Also Published As
| Publication number | Publication date |
|---|---|
| KR102469060B1 (ko) | 2022-11-22 |
| WO2016041805A1 (en) | 2016-03-24 |
| JP2020149070A (ja) | 2020-09-17 |
| EP3195060B1 (en) | 2018-09-05 |
| CN107077074B (zh) | 2020-04-10 |
| JP6714595B2 (ja) | 2020-06-24 |
| TWI681258B (zh) | 2020-01-01 |
| JP7208953B2 (ja) | 2023-01-19 |
| KR20170053713A (ko) | 2017-05-16 |
| CN111505909A (zh) | 2020-08-07 |
| TWI714278B (zh) | 2020-12-21 |
| US10048592B2 (en) | 2018-08-14 |
| JP2017528775A (ja) | 2017-09-28 |
| US20180364583A1 (en) | 2018-12-20 |
| TW201621470A (zh) | 2016-06-16 |
| TW202004367A (zh) | 2020-01-16 |
| US10591825B2 (en) | 2020-03-17 |
| EP3195060A1 (en) | 2017-07-26 |
| US20170168399A1 (en) | 2017-06-15 |
| CN107077074A (zh) | 2017-08-18 |
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