DE602006004350D1 - Roboter und verfahren zur registrierung eines roboters - Google Patents
Roboter und verfahren zur registrierung eines robotersInfo
- Publication number
- DE602006004350D1 DE602006004350D1 DE602006004350T DE602006004350T DE602006004350D1 DE 602006004350 D1 DE602006004350 D1 DE 602006004350D1 DE 602006004350 T DE602006004350 T DE 602006004350T DE 602006004350 T DE602006004350 T DE 602006004350T DE 602006004350 D1 DE602006004350 D1 DE 602006004350D1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- work piece
- indicator
- markers
- relative
- 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.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Surgical Instruments (AREA)
- Image Processing (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0513876A GB2428110A (en) | 2005-07-06 | 2005-07-06 | A robot and method of registering a robot. |
PCT/GB2006/002501 WO2007003949A1 (en) | 2005-07-06 | 2006-07-06 | A robot and a method of registering a robot |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602006004350D1 true DE602006004350D1 (de) | 2009-01-29 |
Family
ID=34856775
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602006004350T Expired - Fee Related DE602006004350D1 (de) | 2005-07-06 | 2006-07-06 | Roboter und verfahren zur registrierung eines roboters |
Country Status (8)
Country | Link |
---|---|
US (1) | US20080201016A1 (de) |
EP (1) | EP1910040B1 (de) |
JP (1) | JP2008544795A (de) |
AT (1) | ATE417711T1 (de) |
DE (1) | DE602006004350D1 (de) |
ES (1) | ES2319572T3 (de) |
GB (1) | GB2428110A (de) |
WO (1) | WO2007003949A1 (de) |
Families Citing this family (88)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040162637A1 (en) | 2002-07-25 | 2004-08-19 | Yulun Wang | Medical tele-robotic system with a master remote station with an arbitrator |
US7813836B2 (en) | 2003-12-09 | 2010-10-12 | Intouch Technologies, Inc. | Protocol for a remotely controlled videoconferencing robot |
US8077963B2 (en) | 2004-07-13 | 2011-12-13 | Yulun Wang | Mobile robot with a head-based movement mapping scheme |
US9198728B2 (en) | 2005-09-30 | 2015-12-01 | Intouch Technologies, Inc. | Multi-camera mobile teleconferencing platform |
US8849679B2 (en) * | 2006-06-15 | 2014-09-30 | Intouch Technologies, Inc. | Remote controlled robot system that provides medical images |
CA2684475C (en) * | 2007-04-16 | 2016-01-12 | Neuroarm Surgical Ltd. | Frame mapping and force feedback methods, devices and systems |
US9160783B2 (en) | 2007-05-09 | 2015-10-13 | Intouch Technologies, Inc. | Robot system that operates through a network firewall |
DE102007055203A1 (de) * | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | Einen Roboter aufweisende Vorrichtung, medizinischer Arbeitsplatz und Verfahren zum Registrieren eines Objekts |
US10875182B2 (en) | 2008-03-20 | 2020-12-29 | Teladoc Health, Inc. | Remote presence system mounted to operating room hardware |
US8179418B2 (en) | 2008-04-14 | 2012-05-15 | Intouch Technologies, Inc. | Robotic based health care system |
US8170241B2 (en) | 2008-04-17 | 2012-05-01 | Intouch Technologies, Inc. | Mobile tele-presence system with a microphone system |
US9193065B2 (en) | 2008-07-10 | 2015-11-24 | Intouch Technologies, Inc. | Docking system for a tele-presence robot |
US9842192B2 (en) | 2008-07-11 | 2017-12-12 | Intouch Technologies, Inc. | Tele-presence robot system with multi-cast features |
US8340819B2 (en) | 2008-09-18 | 2012-12-25 | Intouch Technologies, Inc. | Mobile videoconferencing robot system with network adaptive driving |
US8996165B2 (en) | 2008-10-21 | 2015-03-31 | Intouch Technologies, Inc. | Telepresence robot with a camera boom |
US9138891B2 (en) | 2008-11-25 | 2015-09-22 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
US8463435B2 (en) | 2008-11-25 | 2013-06-11 | Intouch Technologies, Inc. | Server connectivity control for tele-presence robot |
US8849680B2 (en) | 2009-01-29 | 2014-09-30 | Intouch Technologies, Inc. | Documentation through a remote presence robot |
US8897920B2 (en) | 2009-04-17 | 2014-11-25 | Intouch Technologies, Inc. | Tele-presence robot system with software modularity, projector and laser pointer |
US11399153B2 (en) | 2009-08-26 | 2022-07-26 | Teladoc Health, Inc. | Portable telepresence apparatus |
US8384755B2 (en) | 2009-08-26 | 2013-02-26 | Intouch Technologies, Inc. | Portable remote presence robot |
US11154981B2 (en) | 2010-02-04 | 2021-10-26 | Teladoc Health, Inc. | Robot user interface for telepresence robot system |
US8670017B2 (en) | 2010-03-04 | 2014-03-11 | Intouch Technologies, Inc. | Remote presence system including a cart that supports a robot face and an overhead camera |
US10343283B2 (en) | 2010-05-24 | 2019-07-09 | Intouch Technologies, Inc. | Telepresence robot system that can be accessed by a cellular phone |
US10808882B2 (en) | 2010-05-26 | 2020-10-20 | Intouch Technologies, Inc. | Tele-robotic system with a robot face placed on a chair |
US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
ITTV20100133A1 (it) | 2010-10-08 | 2012-04-09 | Teleios Srl | Apparato e metodo per effettuare la mappatura di uno spazio tridimensionale in applicazioni medicali a scopo interventistico o diagnostico |
US9197800B2 (en) * | 2010-11-25 | 2015-11-24 | Resolution Art Inc. | Imaging robot |
US9264664B2 (en) | 2010-12-03 | 2016-02-16 | Intouch Technologies, Inc. | Systems and methods for dynamic bandwidth allocation |
US8718837B2 (en) | 2011-01-28 | 2014-05-06 | Intouch Technologies | Interfacing with a mobile telepresence robot |
US9323250B2 (en) | 2011-01-28 | 2016-04-26 | Intouch Technologies, Inc. | Time-dependent navigation of telepresence robots |
US10769739B2 (en) | 2011-04-25 | 2020-09-08 | Intouch Technologies, Inc. | Systems and methods for management of information among medical providers and facilities |
US9098611B2 (en) | 2012-11-26 | 2015-08-04 | Intouch Technologies, Inc. | Enhanced video interaction for a user interface of a telepresence network |
US20140139616A1 (en) | 2012-01-27 | 2014-05-22 | Intouch Technologies, Inc. | Enhanced Diagnostics for a Telepresence Robot |
BR112014005451B1 (pt) | 2011-09-13 | 2021-11-09 | Koninklijke Philips N.V. | Sistema de registro |
US8836751B2 (en) | 2011-11-08 | 2014-09-16 | Intouch Technologies, Inc. | Tele-presence system with a user interface that displays different communication links |
US9251313B2 (en) | 2012-04-11 | 2016-02-02 | Intouch Technologies, Inc. | Systems and methods for visualizing and managing telepresence devices in healthcare networks |
US8902278B2 (en) | 2012-04-11 | 2014-12-02 | Intouch Technologies, Inc. | Systems and methods for visualizing and managing telepresence devices in healthcare networks |
EP2852881A4 (de) | 2012-05-22 | 2016-03-23 | Intouch Technologies Inc | Grafische benutzerschnittstellen mit touchpad -ansteuerungsschnittstellen für telemedizinische vorrichtungen |
US9361021B2 (en) | 2012-05-22 | 2016-06-07 | Irobot Corporation | Graphical user interfaces including touchpad driving interfaces for telemedicine devices |
US9057600B2 (en) | 2013-03-13 | 2015-06-16 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US9014851B2 (en) * | 2013-03-15 | 2015-04-21 | Hansen Medical, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
WO2014139019A1 (en) | 2013-03-15 | 2014-09-18 | Synaptive Medical (Barbados) Inc. | System and method for dynamic validation, correction of registration for surgical navigation |
MY170323A (en) | 2013-03-15 | 2019-07-17 | Synaptive Medical Inc | Intelligent positioning system and methods therefore |
US9271663B2 (en) | 2013-03-15 | 2016-03-01 | Hansen Medical, Inc. | Flexible instrument localization from both remote and elongation sensors |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
EP2944283B1 (de) | 2014-05-14 | 2018-08-15 | Stryker European Holdings I, LLC | Navigationssystem zum verfolgen der position eines arbeitsziels |
KR102661990B1 (ko) | 2015-09-18 | 2024-05-02 | 아우리스 헬스, 인크. | 관형 조직망의 탐색 |
US10143526B2 (en) | 2015-11-30 | 2018-12-04 | Auris Health, Inc. | Robot-assisted driving systems and methods |
JP6657933B2 (ja) * | 2015-12-25 | 2020-03-04 | ソニー株式会社 | 医療用撮像装置及び手術ナビゲーションシステム |
CN108778148B (zh) * | 2015-12-28 | 2021-05-14 | 赞克特机器人有限公司 | 可调节的配准框架 |
WO2017205351A1 (en) | 2016-05-23 | 2017-11-30 | Mako Surgical Corp. | Systems and methods for identifying and tracking physical objects during a robotic surgical procedure |
DE102016213663A1 (de) | 2016-07-26 | 2018-02-01 | Siemens Aktiengesellschaft | Verfahren zum Steuern eines Endelementes einer Werkzeugmaschine und eine Werkzeugmaschine |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
CN108990412B (zh) | 2017-03-31 | 2022-03-22 | 奥瑞斯健康公司 | 补偿生理噪声的用于腔网络导航的机器人系统 |
US11862302B2 (en) | 2017-04-24 | 2024-01-02 | Teladoc Health, Inc. | Automated transcription and documentation of tele-health encounters |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
JP7330902B2 (ja) | 2017-06-28 | 2023-08-22 | オーリス ヘルス インコーポレイテッド | 電磁歪み検出 |
CN110809452B (zh) | 2017-06-28 | 2023-05-23 | 奥瑞斯健康公司 | 电磁场发生器对准 |
US10483007B2 (en) | 2017-07-25 | 2019-11-19 | Intouch Technologies, Inc. | Modular telehealth cart with thermal imaging and touch screen user interface |
US11636944B2 (en) | 2017-08-25 | 2023-04-25 | Teladoc Health, Inc. | Connectivity infrastructure for a telehealth platform |
US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
EP3476358B8 (de) * | 2017-10-27 | 2020-10-21 | Siemens Healthcare GmbH | System zum nachverfolgen einer position eines zielobjekts |
KR102079209B1 (ko) * | 2017-11-17 | 2020-02-19 | 주식회사 고영테크놀러지 | 정위 장치, 정위 시스템, 및 정위 시스템을 이용하는 정합 방법 |
WO2019118767A1 (en) | 2017-12-14 | 2019-06-20 | Auris Health, Inc. | System and method for estimating instrument location |
KR20200101334A (ko) | 2017-12-18 | 2020-08-27 | 아우리스 헬스, 인코포레이티드 | 관강내 조직망 내 기구 추적 및 항행을 위한 방법 및 시스템 |
KR102500422B1 (ko) | 2018-03-28 | 2023-02-20 | 아우리스 헬스, 인코포레이티드 | 기구의 추정된 위치를 디스플레이하기 위한 시스템 및 방법 |
CN110891469B (zh) | 2018-03-28 | 2023-01-13 | 奥瑞斯健康公司 | 用于定位传感器的配准的系统和方法 |
US10617299B2 (en) | 2018-04-27 | 2020-04-14 | Intouch Technologies, Inc. | Telehealth cart that supports a removable tablet with seamless audio/video switching |
EP3801190A4 (de) | 2018-05-30 | 2022-03-02 | Auris Health, Inc. | Systeme und verfahren zur ortssensorbasierten verzweigungsvorhersage |
JP7214757B2 (ja) | 2018-05-31 | 2023-01-30 | オーリス ヘルス インコーポレイテッド | 生理学的ノイズを検出する管腔網のナビゲーションのためのロボットシステム及び方法 |
KR102455671B1 (ko) | 2018-05-31 | 2022-10-20 | 아우리스 헬스, 인코포레이티드 | 이미지-기반 기도 분석 및 매핑 |
WO2019231891A1 (en) | 2018-05-31 | 2019-12-05 | Auris Health, Inc. | Path-based navigation of tubular networks |
ES1215739Y (es) * | 2018-06-15 | 2018-10-17 | Fundacion Instituto De Investig Marques De Valdecilla | Equipo de referencia de navegación en cirugía robótica asistida mediante navegación estereotáxica de los órganos y partes blandas de la zona pélvica de un paciente |
CN109036520B (zh) * | 2018-07-14 | 2021-11-16 | 杭州三坛医疗科技有限公司 | 骨折或断骨定位系统及其定位方法 |
WO2020056295A2 (en) | 2018-09-13 | 2020-03-19 | The Charles Stark Draper Laboratory, Inc. | Controlling robot torque and velocity based on context |
CN112336295B (zh) * | 2019-08-08 | 2024-07-05 | 上海安翰医疗技术有限公司 | 磁性胶囊内窥镜的控制方法、装置、存储介质、电子装置 |
EP4021331A4 (de) | 2019-08-30 | 2023-08-30 | Auris Health, Inc. | Systeme und verfahren zur gewichtsbasierten registrierung von positionssensoren |
EP4021329A4 (de) | 2019-08-30 | 2023-05-03 | Auris Health, Inc. | System und verfahren für instrumentenbildzuverlässigkeit |
JP7494290B2 (ja) | 2019-09-03 | 2024-06-03 | オーリス ヘルス インコーポレイテッド | 電磁歪み検出及び補償 |
US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
KR20220123076A (ko) | 2019-12-31 | 2022-09-05 | 아우리스 헬스, 인코포레이티드 | 경피 접근을 위한 정렬 기법 |
US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
CN111227935A (zh) * | 2020-02-20 | 2020-06-05 | 中国科学院长春光学精密机械与物理研究所 | 一种手术机器人导航定位系统 |
WO2023227200A1 (en) * | 2022-05-24 | 2023-11-30 | Brainlab Ag | Robotic calibration |
WO2023248005A1 (en) * | 2022-06-23 | 2023-12-28 | Lem Surgical Ag | Robotic compilation of multiple navigation markers |
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FR2259156B1 (de) * | 1974-01-28 | 1979-09-28 | Metallgesellschaft Ag | |
JP3242108B2 (ja) * | 1992-01-30 | 2001-12-25 | 富士通株式会社 | ターゲットマークの認識・追跡システム及び方法 |
GB2303942A (en) * | 1995-07-28 | 1997-03-05 | Armstrong Projects Ltd | Aligning cannula or guide with line on X-ray images |
US6226548B1 (en) * | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
FR2779339B1 (fr) * | 1998-06-09 | 2000-10-13 | Integrated Surgical Systems Sa | Procede et appareil de mise en correspondance pour la chirurgie robotisee, et dispositif de mise en correspondance en comportant application |
US6430434B1 (en) * | 1998-12-14 | 2002-08-06 | Integrated Surgical Systems, Inc. | Method for determining the location and orientation of a bone for computer-assisted orthopedic procedures using intraoperatively attached markers |
US6491699B1 (en) * | 1999-04-20 | 2002-12-10 | Surgical Navigation Technologies, Inc. | Instrument guidance method and system for image guided surgery |
JP2000350733A (ja) * | 1999-06-10 | 2000-12-19 | Olympus Optical Co Ltd | 位置決めフレーム及び手術ナビゲーション装置 |
JP4350233B2 (ja) * | 1999-10-07 | 2009-10-21 | オリンパス株式会社 | 医療用ナビゲーションシステム |
GB0127659D0 (en) * | 2001-11-19 | 2002-01-09 | Acrobot Company The Ltd | Apparatus and method for registering the position of a surgical robot |
JP2003264216A (ja) * | 2002-03-08 | 2003-09-19 | Murata Mach Ltd | 搬送システム |
WO2005032390A1 (fr) * | 2003-10-09 | 2005-04-14 | Ap Technologies Sa | Dispositif pour traitement medical assiste par robot |
SE0401928D0 (sv) * | 2004-07-26 | 2004-07-26 | Stig Lindequist | Method and arrangement for positioning a tool |
-
2005
- 2005-07-06 GB GB0513876A patent/GB2428110A/en not_active Withdrawn
-
2006
- 2006-07-06 JP JP2008518979A patent/JP2008544795A/ja active Pending
- 2006-07-06 EP EP06755719A patent/EP1910040B1/de not_active Not-in-force
- 2006-07-06 US US11/994,611 patent/US20080201016A1/en not_active Abandoned
- 2006-07-06 WO PCT/GB2006/002501 patent/WO2007003949A1/en not_active Application Discontinuation
- 2006-07-06 AT AT06755719T patent/ATE417711T1/de not_active IP Right Cessation
- 2006-07-06 ES ES06755719T patent/ES2319572T3/es active Active
- 2006-07-06 DE DE602006004350T patent/DE602006004350D1/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2008544795A (ja) | 2008-12-11 |
GB0513876D0 (en) | 2005-08-10 |
ES2319572T3 (es) | 2009-05-08 |
GB2428110A (en) | 2007-01-17 |
EP1910040A1 (de) | 2008-04-16 |
EP1910040B1 (de) | 2008-12-17 |
US20080201016A1 (en) | 2008-08-21 |
ATE417711T1 (de) | 2009-01-15 |
WO2007003949A1 (en) | 2007-01-11 |
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