EP1805654B1 - System und verfahren zur robotergestützen perückenherstellung - Google Patents

System und verfahren zur robotergestützen perückenherstellung Download PDF

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Publication number
EP1805654B1
EP1805654B1 EP05812402A EP05812402A EP1805654B1 EP 1805654 B1 EP1805654 B1 EP 1805654B1 EP 05812402 A EP05812402 A EP 05812402A EP 05812402 A EP05812402 A EP 05812402A EP 1805654 B1 EP1805654 B1 EP 1805654B1
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EP
European Patent Office
Prior art keywords
wig
hair
cap
robot
effector
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.)
Not-in-force
Application number
EP05812402A
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English (en)
French (fr)
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EP1805654A2 (de
EP1805654A4 (de
Inventor
Philip L. Gildenberg
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Individual
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Individual
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Publication of EP1805654A4 publication Critical patent/EP1805654A4/de
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Publication of EP1805654B1 publication Critical patent/EP1805654B1/de
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Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41G—ARTIFICIAL FLOWERS; WIGS; MASKS; FEATHERS
    • A41G3/00—Wigs
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41G—ARTIFICIAL FLOWERS; WIGS; MASKS; FEATHERS
    • A41G3/00—Wigs
    • A41G3/0075—Methods and machines for making wigs

Definitions

  • a wig is a manufactured head covering that is worn to alter ones appearance.
  • Wigs are worn by men and women alike and are employed in a number of different applications. From a historical context, aristocrats, royalty, and high-ranking officials have traditionally worn wigs to symbolize status in society.
  • Wigs also find use in an entertainment context to alter the appearance of actors and performers. In general, the uses and applications of wigs are as varied as the different styles and configurations available.
  • Wig construction generally begins with a foundation or cap to which real or synthetic hair is attached.
  • cap, wig cap, and foundation may be used interchangeably to generally refer to the base or support structure for a wig.
  • the characteristics of the cap such as size, shape, composition, etc. may vary depending upon the particular application.
  • wig caps may be hand or machine made and comprised of a fine mesh net or monofilament material.
  • the cap is comprised of a translucent monofilament material that, when worn, allows the natural skin color of the scalp to show through.
  • other materials, such as Dermafix may be added to the cap, which when heated by body temperature helps adhere the cap to the scalp.
  • wigs are constructed by attaching hair to the cap.
  • the hair may be selectively attached to the cap to match the needs of the end user, e.g., cover thinning or balding areas, deliver desired entertainment effect, etc.
  • Hair characteristics such as texture, quality, color, length, etc. may vary depending upon the particular application or construction technique of the wig.
  • the hair may be comprised of human hair, synthetic fibers, or animal hair.
  • wigs There are generally three types of wigs that are available, stock, semi-custom, and custom made wigs.
  • Stock wigs are usually machine made and are not necessarily designed for a specific person or application. As such, stock wigs are usually cheaper in cost, which unfortunately usually comes at a substantial sacrifice in the appearance and quality of the wig. Moreover, because stock wigs are made with little or no input from the ultimate user, these wigs are often recognizable when worn.
  • stock wigs are constructed using a sewing machine to attach hair to a "weft", which is a long string. Once the hair is sewn to the weft, it is then wrapped around and attached to the cap.
  • Semi-custom and custom wigs are capable of providing a more natural look when worn.
  • reference to semi-custom and custom wigs may be used interchangeably to refer to wigs that are constructed with a particular application, user group, or person in mind.
  • the cap and various characteristics of the hair used to construct the wig such as placement, color, texture, length, etc. may be customized to match a particular application or person.
  • wig construction is a tedious, time consuming, laborious, and consequently expensive process. This is especially true for custom wig construction.
  • the cap is usually custom fit to a particular individual's scalp. This frequently involves measuring the individual's scalp and head and matching the ends of the cap to the individual's hairline. Consideration is also given to the desired coverage the wig is intended to provide.
  • the cap may be constructed only to cover balding portions of an individual's scalp.
  • the cap may be configured to cover the individual's entire scalp.
  • the wig is constructed by attaching hair to desired locations on the cap. Hair is attached to the cap using a manual labor-intensive one-by-one process. Wig makers refer to this process as ventilating a wig. Using a needle, each individual hair is fed through the cap, wrapped around itself, and fed back through the cap in a knot tying fashion. The process employed is similar to the 'latch hook' technique used for tying a rug. A typical wig may require the process repeated between 30,000 and 40,000 times. Moreover, the manual process used for tying a wig generally takes between 40 and 60 hours to complete.
  • the present invention is directed to overcoming, or at least reducing the effects of, one or more of the problems set forth above.
  • US6446634 discloses an automated wig manufacturing system in which a 2-dimensional thin wig base which is stretched and implanted with hair by a reciprocating needle.
  • JP63-315658 discloses a flocking material tightening apparatus of a flocking machine.
  • DE19960062 discloses a system for attaching hair at an angle to a gauze or glass fibre mesh base of a hairpiece.
  • the invention of the present disclosure includes methods for constructing wigs wherein the three-dimensional position of a wig cap with respect to an at least one effector attached to a robotic arm of a robot is registered with the controller of the robot, wherein the registration is obtained through at least two cameras via a triangulation technique followed by positioning the at least one effector proximate to the registered wig cap and operating the effector to fixedly attach at least one hair to the wig cap
  • Figure 1 represents a visual depiction of one embodiment of wig construction methods of the present application.
  • Robots are currently used in a number of different industries to automate various processes.
  • a number of different suppliers such as ABB Inc., KUKA Robot Group, CTA Automation Technology, Fanuc Robotics, etc., offer a wide range of robots and accompanying control technology.
  • robots are integrated with manufacturing processes to remove or eliminate the need for human intervention.
  • robots ordinarily increase the speed of the manufacturing process and reduce the manufacturing costs (e.g., labor costs) of a finished product.
  • a robot may be configured and employed to reduce or eliminate the repetitive manual processes typically associated with wig construction.
  • Robots are provided in a number of different configurations.
  • robots may be provided with one or more robotic arms, mechanical attachments, and/or other types of peripherals.
  • a robot uses at least one robotic arm that is configured with an effector attached at or near a distal end of the robotic arm to perform a desired task or function.
  • the effector is usually a suction mechanism that is capable of grasping and releasing a chip.
  • the present invention is not limited to any particular robot or configuration. Rather, a variety of different robots are configurable with an appropriate amount of intelligence and arm control capability to reduce or eliminate the repetitive manual processes associated with wig construction.
  • One such robot configuration is taught, for example, in U.S. Patent No. 6,585,746 .
  • a robot 1, as shown in Figure 1 is configured so that it may interact with a wig cap 2 in a controlled manner to selectively and precisely place hair in desired locations.
  • a cap 2 is placed in known three-dimensional space with respect to a robot 1.
  • a cap holder 3 such as a stand or other suitable structure, may be positioned and configured in known three-dimensional space with respect to the robot 1. By placing the cap 2 upon the cap holder 3, the cap 2 becomes oriented in space with respect to the robot 1.
  • a universal connector 4 or similar device may be configured to be cooperatively operable with the robot 1.
  • the universal connector 4 simplifies orienting a plurality of different cap holders 3 in three-dimensional space with respect to the robot 1.
  • each of the plurality of cap holders 3 may be attached to the universal connector 4 and pre-oriented in three-dimensional space with respect to the robot 1.
  • the plurality of cap holders 3 may vary in size, shape, etc., and a cap holder 3 that best matches the size and shape of a particular cap 2 may be selected. If pre-oriented, a particular cap holder 3 may be selected, attached to the universal connector 4, and its stored orientation configuration recalled using the robot's control system.
  • the universal connector 4 may be any device, holder, software or wireless program attachment that assists the repeated placement of the cap holders 3 in substantially the same position with respect to the robot 1.
  • a custom cap holder 3 may also be used with the present invention.
  • a custom cap holder 3 may be produced from a scan of the end user's head and/or scalp. The data collected during the scan may be used to customize the dimensions, shape, and other characteristics of a cap holder 3. It should be appreciated that a number of different scan techniques may be used to collect this data. One such technique is described, for example, in U.S. Patent No. 6,585,746 . In this example, a video system is used with one or more cameras to map locations of interest. A range finder may also be employed for measuring distance.
  • the data collected during the scan may include the shape and dimensions of the end users head and scalp, locations of thinning hair, hairline details, hair color, density, coarseness, or stereovision may be used to reconstruct the shape and dimensions of the head in virtual space. This data may then be processed and used to fabricate a custom cap holder 3. Moreover, as will be described below, this data may also be used to customize the wig construction process.
  • the robot 1 may be operated and controlled using any number of different control systems.
  • the robot 1 operates using a computerized control system that is cooperatively operable with one or more cameras focused on an area of interest that includes, for example, an effector 5 attached to a robotic arm 7 of the robot 1.
  • the effector 5 may include at least one of a hook 6, needle, or any other mechanical device useful for grasping individual or groups of hair and robotically attaching the hair to the cap 2.
  • the effector 5 may include an array of mechanical devices that are automatically interchangeable and cooperatively operable for robotically attaching hair to the cap 2.
  • the control system is capable of determining the position of an effector 5 in three-dimensional space with respect to a specific point of interest on a wig cap 2.
  • two cameras may be attached near the distal end of a robotic arm of the robot 7, and the views of the two cameras configured to overlap with the effector 5. If the locations of the two cameras are known with respect to the position of the effector 5, the control system is configurable using conventional localization techniques, such as triangulation, to calculate the spatial orientation of the effector 5 in three-dimensional space.
  • a range finder 8 and a camera 9 may be attached near the distal end of a robotic arm of the robot 7, and the view of the camera 9 configured to overlap with the effector 5.
  • the control system is configurable using conventional localization techniques to calculate the spatial orientation of the effector 5 in three-dimensional space.
  • a range finder 8 is operable for communicating with the control system the distance to a specific area of interest. With this configuration, the control system may be cooperatively operable with the camera 9 and the range finder 8 to determine the position of the effector 5 in three-dimensional space with respect to a specific point of interest on a wig cap 2.
  • the control system may include a display system 10, such as a screen or monitor 11, to facilitate visual interaction with a robot operator.
  • a display system 10 such as a screen or monitor 11, to facilitate visual interaction with a robot operator.
  • a real-time image 12 of the cap 2 may be displayed and presented to the robot operator.
  • any number of cameras may be focused on the cap 2.
  • These cameras may include additional cameras and/or the previously described cameras attached to a distal end of the at least one robotic arm of the robot 7.
  • a variety of different techniques may be employed using the captured real-time video image 12 to control and customize the wig construction process. Data may be visualized by the operator or used directly by the robot 1 to direct the process.
  • the real-time video image 12 being displayed may be visually overlapped with data previously used to orient the cap 2 and/or the cap holder 3 in three-dimensional space.
  • an image of the cap holder 3 may be electronically stored in the computerized control system.
  • the image of the cap holder 3 may be recalled and overlapped with the real-time video image 12 of the cap 2.
  • the image may be either wire-frame or surface rendered.
  • the image of the cap holder 3 is electronically formatted into a three-dimensional wire-frame image that is superimposed onto the real-time video image 12 of the cap 2.
  • control system may be configured to accept several identified points of interest on the real-time video image 12. This data may be entered interactively by the robot operator or captured automatically by the control system.
  • fiducial markers 13 may be placed at selected locations around the cap 2. These points of interest may be matched with previously stored data used to orient the cap 2 in three-dimensional space with respect to the robot 1. Using real-time mapping algorithms and/or other data manipulation techniques known in the art, the real-time image 12 of the cap 2 may be resolved into the three-dimensional space known to the robot 1.
  • the robot operator may customize the wig construction process to produce a wig having desired characteristics. For example, once the cap 2 is positioned for construction, e.g., positioned on a cap holder 3, an image of the cap 2 may be displayed on the display system 10. As described, the previously stored orientation image may be recalled and overlapped with the real-time image 12, or the real-time image 12 may be mapped with the orientation data allowing direct interaction with the real-time image 12. As additional input, the operator may recall a previously stored image of the end users scalp and/or head. As previously described, scanning the end user's scalp and/or head may create this image. The operator to help facilitate the custom wig construction process may recall this data.
  • the robot operator may interact with the display system 10 to control and customize the wig construction process.
  • the robot operator may interact with control system using a light pen or other data entry device and select a variety of different variable characteristics of the wig to be produced.
  • the operator may select desired hair location, i.e., coverage, hair color, density, texture, direction, coarseness, etc.
  • the operator may select to blend certain colors, fade certain areas with respect to hair density, color, hair direction, etc.
  • the control system and its software may be configured so that virtually any variable considered during traditional wig construction may be varied and robotically carried out.
  • the robot operator may control and customize the wig construction process by physically interacting with the cap 2. That is, the robot operator may enter data into the robot control system by physically interacting with the cap 2. For example, using a data entry device 14, such as a wand, light pen, marker, etc., that has been oriented in three-dimensional space with respect to the robot 1, the robot operator may interact with the cap 2 to mark areas of interest or perform other data entry functions.
  • the data entry device may be wireless or wired, depending upon the particular application. This approach allows the robot operator a more hands-on approach to wig customization and may also be a more familiar and comfortable process to the operator.
  • the operator may interact with a model, such as a head model, that is cooperatively operable with the control system to customize and control the wig construction process.
  • the model may be configured and oriented in three-dimensional space with respect to the robot 1 in a fashion that is similar to the cap holder 3.
  • the model may be arranged such that identified points on the model correspond with identified points on the cap holder 3 or wig cap 2.
  • a data entry device 14 such as a light pen, pointer, etc.
  • the operator may interact with the model to customize the wig construction process.
  • the model may be a universal head model capable of being repeatedly used for multiple wig construction processes. Alternatively, a custom model may be created to match a particular end user or application.
  • the robot 1 may be activated to begin robotically constructing the wig. During this process, the robot retrieves hair 16 from a hair staging area 15 and attaches, i.e., implants, the hair 16 to an identified location on the cap 2.
  • the hair staging area 15 may be arranged and configured in any number of different ways.
  • the hair staging area 15 is configured in an n x n array organized, for example, by color and length.
  • the rows of the array are organized by color, while the columns are organized by length.
  • other hair characteristics such as human, synthetic, animal, coarseness, etc. might be included in the organization scheme. Any number of modifications may be made to the hair staging area 15 to accommodate additional criteria: Moreover, it should be appreciated that any type of hair used with conventional wig construction may also be used with the present invention.
  • the placement and arrangement of the hair 16 in the array is ordinarily pre-programmed into the robot's control system. This information will vary depending upon the configuration of the hair staging area 15. For example, in one illustrative embodiment, the control system is programmed to anticipate the hair 16 to be stored in a direction parallel to its direction of retrieval. Using this information, the robot 1 may automatically retrieve the hair 16 necessary for completing the wig configuration input by the robot operator.
  • the robot 1 may be equipped with two cameras attached to the distal end of at least one robotic arm 7.
  • the camera views are provided to the control system, and the control system is operable to use this information to identify individual hairs stored in the hair staging area 15. Once an individual hair 16 of interest is identified, the control system directs the effector 5 attached to the robotic arm 7 to retrieve the hair 16.
  • the control system operates to automatically and robotically move the effector 5 to attach the hair 16 to the cap 2.
  • the effector 5 may include at least one of a hook 6, needle, or any other mechanical device or tool for attaching the hair 16 to the cap 2.
  • the control system attaches the hair 16 by moving the effector 5 in a manner that mimics the manual 'latch hook' technique used in conventional wig construction, however, any attachment technique may be utilized.
  • the effector 5 may be equipped with a magazine or array of tools that are capable of being automatically deployed when attaching the hair 16 to the cap 2.
  • the robotic process of hair retrieval and attachment may be repeatedly completed until the wig construction process has reached a state of acceptance.
  • the robot operator may monitor the construction process using, for example, the aforementioned cameras and display system 10. Periodically, if desired, the operator may halt the process and inspect the cap 2 and wig to ensure the process is being completed as desired. If necessary, modifications may be made using the control system. For example, at any point during the wig construction process, the operator may halt the robot 1 and interact with the control system to make modifications to hair color, texture, placement, quality, and/or any other variable. Alternatively, the control system may permit on-the-fly modifications, while the robot 1 is working.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Claims (13)

  1. Verfahren zum Herstellen einer Perücke, umfassend:
    a) das Ausrichten der dreidimensionalen Position einer Perückenmontur (2) relativ zu mindestens einer Bearbeitungseinrichtung (5), die an einem Roboterarm (7) eines Roboters (1) befestigt ist, mit einem Controller des Roboters (1), wobei das Ausrichten durch mindestens zwei Kameras (8, 9) über ein Triangulierungsverfahren erfolgt;
    b) das Anordnen der mindestens einen Bearbeitungseinrichtung (5) in der Nähe der ausgerichteten Perückenmontur (2); und
    c) das Betätigen der Bearbeitungseinrichtung (5), damit diese zumindest ein Haar (16) fest mit der Perückenmontur (2) verbindet.
  2. Verfahren nach Anspruch 1, wobei das mindestens eine Haar (16) mit einer Verknüpfungstechnik an der Perückenmontur (2) befestigt wird.
  3. Verfahren nach Anspruch 1, wobei die Bearbeitungseinrichtung (5) zudem mehr als eine mechanische Vorrichtung umfasst.
  4. Verfahren nach irgendeinem der vorhergehenden Ansprüche, wobei die Bearbeitungseinrichtung (5) so betrieben wird, dass sie das mindestens eine Haar (16) aus einem Bereitstellungsbereich (15) holt und das mindestens eine aus dem Bereitstellungsbereich (15) geholte Haar (16) fest an einem Ort auf der Perückenmontur (2) befestigt, den der Controller des Roboters (1) spezifiziert.
  5. Verfahren nach Anspruch 1, wobei die Position der Perückenmontur (2) nach dem Ausrichten als Bild (12) auf einem Monitor (11) dargestellt wird.
  6. Verfahren nach Anspruch 5, wobei die Position der Perückenmontur (2) nach dem Ausrichten als Echtzeitbild (12) auf dem Monitor (11) dargestellt wird.
  7. Verfahren nach Anspruch 6, wobei ein zweites Bild über das Bild (12) gelegt wird.
  8. Verfahren nach Anspruch 7, wobei das zweite Bild den Endanwender der Perücke darstellt.
  9. Verfahren nach Anspruch 8, wobei das darüber gelegte zweite Bild dazu verwendet wird, den Aufbau der Perücke vorab zu planen oder anzuweisen.
  10. Verfahren nach Anspruch 4, wobei das Verfahren zudem das Orten der dreidimensionalen Position der Perückenmontur (2) durch den Gebrauch mindestens eines Universalverbinders (4) umfasst, der einen Perückenmonturhalter (3) in einem vorbestimmten Ort anordnet.
  11. Verfahren nach Anspruch 3, wobei die mehr als eine mechanische Vorrichtung automatisch ausgetauscht und gemeinsam betrieben werden können, damit sie durch die Robotertätigkeit das mindestens eine Haar (16) an der Perückenmontur (2) befestigen.
  12. Verfahren nach irgendeinem der vorhergehenden Ansprüche, zudem umfassend:
    das räumliche Zuordnen von mindestens einer Bezugsmarkierung (13), die an einem Modell befestigt ist, zu Positionen auf der Perückenmontur (2); und
    das Betreiben der mindestens einen Bearbeitungseinrichtung (5), damit das mindestens eine Haar (16) in einer Position fest angebracht wird, die durch ihre Nähe zu der räumlich zugeordneten Position der mindestens einen Bezugsmarkierung (13) spezifiziert ist.
  13. Verfahren nach Anspruch 12, wobei das Modell die Person ist, für die die Perücke hergestellt wird.
EP05812402A 2004-10-22 2005-10-24 System und verfahren zur robotergestützen perückenherstellung Not-in-force EP1805654B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US62158604P 2004-10-22 2004-10-22
PCT/US2005/038446 WO2006047542A2 (en) 2004-10-22 2005-10-24 System and method for robotic assisted wig construction

Publications (3)

Publication Number Publication Date
EP1805654A2 EP1805654A2 (de) 2007-07-11
EP1805654A4 EP1805654A4 (de) 2008-09-03
EP1805654B1 true EP1805654B1 (de) 2010-04-21

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EP05812402A Not-in-force EP1805654B1 (de) 2004-10-22 2005-10-24 System und verfahren zur robotergestützen perückenherstellung

Country Status (9)

Country Link
EP (1) EP1805654B1 (de)
JP (1) JP5124278B2 (de)
KR (1) KR20070073922A (de)
CN (1) CN101065745B (de)
AT (1) ATE465455T1 (de)
AU (1) AU2005299447A1 (de)
DE (1) DE602005020825D1 (de)
RU (1) RU2007118953A (de)
WO (1) WO2006047542A2 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7483763B2 (en) 2005-11-17 2009-01-27 Centertrak, Llc System and method for the digital specification of head shape data for use in developing custom hair pieces
CN110448919A (zh) * 2018-12-28 2019-11-15 东莞市诺诚自动化科技有限公司 一种基于编程控制的全自动植发机坐标转换方法
JP7037695B1 (ja) 2021-08-12 2022-03-16 順子 池野 セパレーションネオウィッグ

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63315658A (ja) 1987-06-15 1988-12-23 三菱電機株式会社 植毛機の植毛材引締め装置
JPS63315659A (ja) * 1987-06-15 1988-12-23 三菱電機株式会社 植毛機の整髪装置
JP3832065B2 (ja) * 1997-12-26 2006-10-11 コニカミノルタホールディングス株式会社 ３次元形状データ処理装置
ES2255493T3 (es) * 1999-04-23 2006-07-01 Restoration Robotics, Inc. Aparato de transplante de pelo.
DE19960062C1 (de) 1999-12-13 2001-02-15 Ulrich Werner Vorrichtung zum Verbinden von Haaren mit einem Harrteil, insbesondere Toupet
WO2001044552A1 (de) * 1999-12-13 2001-06-21 Ulrich Werner Vorrichtung zum verbinden von haaren mit einem haarteil
JP4650650B2 (ja) * 2000-07-31 2011-03-16 株式会社ユニヘアー 自毛活用型かつら
US6585746B2 (en) * 2000-04-20 2003-07-01 Philip L. Gildenberg Hair transplantation method and apparatus
JP3552095B2 (ja) * 2000-04-28 2004-08-11 保 知 宏 かつら製造用自動植毛機及び自動植毛方法
KR100725606B1 (ko) 2000-04-28 2007-06-08 프로피아 가부시끼 가이샤 전자동 가발제조기 및 가발의 제조방법
US20040122287A1 (en) * 2002-12-23 2004-06-24 Minigh Phillip V. Human female facsimile

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RU2007118953A (ru) 2008-12-10
DE602005020825D1 (de) 2010-06-02
CN101065745B (zh) 2010-05-05
JP5124278B2 (ja) 2013-01-23
WO2006047542A3 (en) 2006-08-24
KR20070073922A (ko) 2007-07-10
WO2006047542A2 (en) 2006-05-04
AU2005299447A1 (en) 2006-05-04
ATE465455T1 (de) 2010-05-15
EP1805654A2 (de) 2007-07-11
CN101065745A (zh) 2007-10-31
JP2008518114A (ja) 2008-05-29
EP1805654A4 (de) 2008-09-03

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