DK3062726T3 - NAVIGATION SYSTEM AND PROCEDURE FOR DENTAL SURGERY AND CRANIO-MAXILLO-FACIAL SURGERY - Google Patents
NAVIGATION SYSTEM AND PROCEDURE FOR DENTAL SURGERY AND CRANIO-MAXILLO-FACIAL SURGERY Download PDFInfo
- Publication number
- DK3062726T3 DK3062726T3 DK13773704.5T DK13773704T DK3062726T3 DK 3062726 T3 DK3062726 T3 DK 3062726T3 DK 13773704 T DK13773704 T DK 13773704T DK 3062726 T3 DK3062726 T3 DK 3062726T3
- Authority
- DK
- Denmark
- Prior art keywords
- imaging unit
- navigation system
- imaging
- surgery
- marker
- Prior art date
Links
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- 238000000034 method Methods 0.000 title claims description 42
- 238000003384 imaging method Methods 0.000 claims description 251
- 239000003550 marker Substances 0.000 claims description 172
- 239000000463 material Substances 0.000 claims description 73
- 210000003054 facial bone Anatomy 0.000 claims description 39
- 210000000988 bone and bone Anatomy 0.000 claims description 11
- 210000003625 skull Anatomy 0.000 claims description 2
- 238000002591 computed tomography Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 210000003128 head Anatomy 0.000 description 5
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Classifications
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- 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
- 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
- A61B1/24—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 for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
- A61C1/084—Positioning or guiding, e.g. of drills of implanting tools
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/12—Angle hand-pieces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00831—Material properties
- A61B2017/00946—Material properties malleable
-
- 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
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- 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
- 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
- A61B2034/2057—Details of tracking cameras
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
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- 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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
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- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
- A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
-
- 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
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
-
- 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
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- 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
- 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
- A61B2090/3987—Applicators for implanting 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
- A61B2090/3995—Multi-modality markers
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dentistry (AREA)
- Surgery (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Instructional Devices (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2013/070553 WO2015048994A1 (en) | 2013-10-02 | 2013-10-02 | Navigation system and method for dental and cranio-maxillofacial surgery, positioning tool and method of positioning a marker member |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK3062726T3 true DK3062726T3 (en) | 2018-03-12 |
Family
ID=49304943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK13773704.5T DK3062726T3 (en) | 2013-10-02 | 2013-10-02 | NAVIGATION SYSTEM AND PROCEDURE FOR DENTAL SURGERY AND CRANIO-MAXILLO-FACIAL SURGERY |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US10743940B2 (enExample) |
| EP (1) | EP3062726B1 (enExample) |
| JP (1) | JP6458042B2 (enExample) |
| KR (1) | KR102063125B1 (enExample) |
| BR (1) | BR112016007320A2 (enExample) |
| CA (1) | CA2926261A1 (enExample) |
| CY (1) | CY1120006T1 (enExample) |
| DK (1) | DK3062726T3 (enExample) |
| ES (1) | ES2665505T3 (enExample) |
| NO (1) | NO3062726T3 (enExample) |
| WO (1) | WO2015048994A1 (enExample) |
Families Citing this family (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9844324B2 (en) | 2013-03-14 | 2017-12-19 | X-Nav Technologies, LLC | Image guided navigation system |
| KR101505785B1 (ko) * | 2014-09-05 | 2015-03-25 | 남윤 | 치과 핸드피스용 드릴의 3차원 공간적 각도의 보정 장치 및 보정 방법 |
| US9402691B2 (en) | 2014-09-16 | 2016-08-02 | X-Nav Technologies, LLC | System for determining and tracking movement during a medical procedure |
| US9943374B2 (en) | 2014-09-16 | 2018-04-17 | X-Nav Technologies, LLC | Image guidance system for detecting and tracking an image pose |
| US10350008B2 (en) | 2014-12-02 | 2019-07-16 | X-Nav Technologies, LLC | Visual guidance display for surgical procedure |
| US9554869B1 (en) * | 2016-01-08 | 2017-01-31 | Eped Inc. | Bite tray having fiducial markers for head scan registration and method of use |
| US20170333135A1 (en) * | 2016-05-18 | 2017-11-23 | Fei Gao | Operational system on a workpiece and method thereof |
| EP3463154B1 (en) * | 2016-06-02 | 2023-07-05 | Atracsys Sàrl | Mobile surgical navigation system |
| WO2018081899A1 (en) * | 2016-11-04 | 2018-05-11 | Claronav Inc. | Kit and method for tracking a human jaw |
| EP3600114B1 (en) | 2017-03-20 | 2022-11-30 | Mininavident AG | Registration and identification tool and method for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument |
| KR102026230B1 (ko) * | 2017-09-01 | 2019-09-27 | 고려대학교산학협력단 | 두부 시술용 치료 기구 가이드 방법 |
| JP2019097851A (ja) * | 2017-12-01 | 2019-06-24 | 国立大学法人 鹿児島大学 | 歯科手術支援システム及びプログラム |
| US11033372B2 (en) * | 2017-12-06 | 2021-06-15 | Claronav Inc. | Photocured resin based attachment to jaw |
| TWI642404B (zh) * | 2017-12-06 | 2018-12-01 | 奇美醫療財團法人奇美醫院 | Bone surgery navigation system and image navigation method for bone surgery |
| US10213274B1 (en) | 2018-03-12 | 2019-02-26 | King Saud University | Method of tracking and navigation for a dental instrument |
| DE102018204098A1 (de) | 2018-03-16 | 2019-09-19 | Sirona Dental Systems Gmbh | Bildausgabeverfahren während einer dentalen Anwendung und Bildausgabevorrichtung |
| KR102168462B1 (ko) | 2018-06-12 | 2020-10-21 | 경북대학교 산학협력단 | 수술용 네비게이션 장치, 이를 이용한 네비게이션 수술 시스템 및 방법 |
| GB2577719B (en) | 2018-10-03 | 2023-04-26 | Cmr Surgical Ltd | Navigational aid |
| GB2577718B (en) | 2018-10-03 | 2022-08-24 | Cmr Surgical Ltd | Feature identification |
| EP3685785A1 (en) * | 2019-01-22 | 2020-07-29 | Stryker European Holdings I, LLC | Tracker for a surgical navigation system |
| ES1232584Y (es) * | 2019-06-12 | 2019-10-10 | Roman Raul Cuesta | Accesorio para material rotatorio. |
| CN111568550A (zh) * | 2020-06-08 | 2020-08-25 | 北京爱康宜诚医疗器材有限公司 | 手术导航监测系统及其信息监测方法、装置和存储介质 |
| CN111956325B (zh) | 2020-07-01 | 2021-08-20 | 北京和华瑞博医疗科技有限公司 | 一种医用器械的精准定位装置、方法和系统 |
| CN114305682B (zh) * | 2020-09-29 | 2023-09-22 | 上海微创卜算子医疗科技有限公司 | 神经介入导航实时定位系统和方法 |
| CN114569260B (zh) * | 2020-11-18 | 2024-07-19 | 中山大学附属口腔医院 | 一种上颌骨截骨后的就位引导板 |
| WO2022140791A1 (en) * | 2020-12-23 | 2022-06-30 | Koski Robert Kyle | Device and method for dental procedure planning |
| EP4304481A4 (en) * | 2021-03-11 | 2025-01-15 | Mars Dental AI Ltd. | ENHANCING DENTAL VIDEO FOR CT MODEL REGISTRATION AND AUGMENTED REALITY-ASSISTED DENTAL TREATMENT |
| WO2023064433A1 (en) * | 2021-10-13 | 2023-04-20 | Smith & Nephew, Inc. | Methods for surgical registration and tracking using hybrid imaging devices and systems thereof |
| CN116262071B (zh) * | 2021-12-14 | 2025-01-14 | 北京和华瑞博医疗科技有限公司 | 定位标记、外科器械及手术系统 |
| TWI777902B (zh) * | 2022-03-11 | 2022-09-11 | 柯百俞 | 植牙之工作角度導引裝置及其方法 |
| KR102751776B1 (ko) * | 2022-07-29 | 2025-01-09 | 주식회사 덴티움 | 위치의 추적이 가능한 핸드피스 장치 및 이를 위한 센서모듈 |
| US20250025262A1 (en) * | 2023-04-14 | 2025-01-23 | King Saud University | Dental handpiece with temperature sensor |
| WO2024231741A1 (en) * | 2023-05-05 | 2024-11-14 | Acclarent, Inc. | Patient tracking device for use with medical instrument navigation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB8525625D0 (en) * | 1985-10-17 | 1985-11-20 | Rosenstiel S F | Dental drill |
| US5049070A (en) * | 1990-01-09 | 1991-09-17 | High-Tech Medical Instrumentation, Inc. | Dental drill integral camera and optics |
| US5188111A (en) * | 1991-01-18 | 1993-02-23 | Catheter Research, Inc. | Device for seeking an area of interest within a body |
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-
2013
- 2013-10-02 NO NO13773704A patent/NO3062726T3/no unknown
- 2013-10-02 WO PCT/EP2013/070553 patent/WO2015048994A1/en not_active Ceased
- 2013-10-02 JP JP2016546145A patent/JP6458042B2/ja active Active
- 2013-10-02 ES ES13773704.5T patent/ES2665505T3/es active Active
- 2013-10-02 KR KR1020167011698A patent/KR102063125B1/ko active Active
- 2013-10-02 CA CA2926261A patent/CA2926261A1/en not_active Abandoned
- 2013-10-02 BR BR112016007320A patent/BR112016007320A2/pt not_active Application Discontinuation
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- 2013-10-02 US US15/026,789 patent/US10743940B2/en active Active
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2018
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2015048994A1 (en) | 2015-04-09 |
| CA2926261A1 (en) | 2015-04-09 |
| JP6458042B2 (ja) | 2019-01-23 |
| KR102063125B1 (ko) | 2020-01-07 |
| BR112016007320A2 (pt) | 2017-08-01 |
| KR20160078363A (ko) | 2016-07-04 |
| EP3062726A1 (en) | 2016-09-07 |
| CY1120006T1 (el) | 2018-12-12 |
| JP2016536098A (ja) | 2016-11-24 |
| EP3062726B1 (en) | 2017-12-06 |
| NO3062726T3 (enExample) | 2018-05-05 |
| US10743940B2 (en) | 2020-08-18 |
| ES2665505T3 (es) | 2018-04-26 |
| US20160235483A1 (en) | 2016-08-18 |
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