EP3074808A1 - Microscope optique muni d'un objectif à mise au point interne et procédé de microscopie pour examiner plusieurs objets microscopiques - Google Patents
Microscope optique muni d'un objectif à mise au point interne et procédé de microscopie pour examiner plusieurs objets microscopiquesInfo
- Publication number
- EP3074808A1 EP3074808A1 EP14796435.7A EP14796435A EP3074808A1 EP 3074808 A1 EP3074808 A1 EP 3074808A1 EP 14796435 A EP14796435 A EP 14796435A EP 3074808 A1 EP3074808 A1 EP 3074808A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- detection
- sample
- measuring
- light microscope
- light
- 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.)
- Pending
Links
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/02—Objectives
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/02—Objectives
- G02B21/025—Objectives with variable magnification
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/06—Means for illuminating specimens
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/16—Microscopes adapted for ultraviolet illumination ; Fluorescence microscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/24—Base structure
- G02B21/241—Devices for focusing
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/24—Base structure
- G02B21/26—Stages; Adjusting means therefor
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/34—Microscope slides, e.g. mounting specimens on microscope slides
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/0016—Technical microscopes, e.g. for inspection or measuring in industrial production processes
Definitions
- the present invention relates to a light microscope for examining a plurality of microscopic objects according to the preamble of claim 1 and to a microscopy method for examining a plurality of microscopic objects according to the preamble of claim 13.
- microscopes designed for this purpose are also referred to as high-throughput or Hlhh throughput microscopes.
- the examined samples which are also referred to as microscopic objects, may include, for example, biological organisms. Often the objects are carried in a carrier medium, for example an aqueous medium or a gel.
- a generic light microscope comprises a light source for illuminating a measuring area, a sample vessel in which the microscopic objects can be moved one after the other into the measuring area, and imaging means and a detection device for measuring detection light, which differs from one in the microscopic object located in the measuring range comes.
- a corresponding generic microscopy method for examining a plurality of microscopic objects comprises at least the steps of illuminating a measuring area, moving the microscopic objects one after the other into the measuring area in a sample vessel, and using imaging means and an ner detection device detection light is measured, which comes from a microscopic object located in the measuring range.
- the imaging means according to the invention comprise a detection objective with stationary front optics and movable focusing optics, the focusing optics being arranged behind the front optics and in front of an intermediate image plane and being adjustable for height adjustment of a detection plane.
- the detection device successively records a plurality of sample images at different detection levels, which are set with a movable focusing lens.
- the invention can be considered to make sample displacement superfluous for height adjustment of the detection plane, which is sharply imaged on the detection device.
- a movement of the sample vessel is time-consuming because of the relatively high masses to be moved.
- the masses to be moved are low in the focusing means, so that a particularly high speed is possible.
- the focusing means are located in the beam path behind a stationary front optics. As a result, there is no interference or movement of the sample or an adjacent medium when the focusing means are adjusted.
- the focusing means are arranged in front of an intermediate image plane. This designates the first plane in the beam path of the detection light, which is optically conjugate to the detection plane. In this intermediate image plane, the detection plane is imaged with the imaging means.
- optical interfaces from the sample vessel to the front optics can be stationary during successive measurements of different microscopic objects as well as different detection levels. These properties are important in order to study large sample volumes with short setup times.
- a sample movement surrounding a sample such as water, remains in constant contact with the sample vessel, no optical interface shifts when successively different microscopic objects are measured.
- the optical interfaces may include an interface from the sample medium to the sample vessel, an interface from the sample vessel to a sample vessel environment, and an interface. from the sample vessel environment to the front optics. Other interfaces may be present depending on the design of the sample vessel environment. As a significant advantage, all these optical interfaces can remain stationary if different detection planes are successively imaged and measured on the detection device.
- the invention makes it possible for the detection plane to be displaced in the direction of an optical axis of the detection objective between at least some of the images of the sample images via an adjustment of the focusing means.
- the sample images taken in this case can then be combined to form a three-dimensional sample image.
- the examined object can rest for taking the sample images to different detection levels. Only after these recordings have been completed is the object moved out of the measuring range and a next object moved into the measuring range. This procedure is particularly preferred if a movement direction of the objects is coplanar with the detection planes.
- a plurality of sample images can be taken in succession, the microscopic objects being moved at least between images of different sample images, and the recorded sample images are combined to form a three-dimensional sample image.
- the sample movement can also be used to examine different sample areas one after the other.
- it may be provided to perform a sample movement exclusively between, but not during, taking pictures of sample images.
- the sample movement does not affect the image quality and several detection planes can be examined, which are offset in height to each other, but have no lateral offset relative to the microscopic object.
- the direction of the sample movement, with which the microscopic objects are successively moved through the measuring area, is perpendicular or oblique to a detection axis along which the detection objective receives and transmits detection light.
- This detection axis can also be referred to as the optical axis of the detection objective.
- the sample movement causes a transverse relative displacement between the detection plane and the sample for this purpose. Therefore, for the examination of each individual microscopic sample, it is also possible to take a plurality of sample images with the same setting of the focusing agents, whereby different regions of the same microscopic object are examined by the sample movement. These sample images can then be combined with the sample images, for the recording of which adjustment of the focusing means has been changed, to form an overall image.
- the detection plane is oriented obliquely, ie not coplanar, with respect to the direction of movement of the objects.
- a height adjustment of the detection plane also takes place here perpendicular to the detection plane.
- a measuring distance duration is significant. This can designate the time duration which is required from the beginning of a sample image recording of a first detection level up to a beginning of a sample image recording of a detection plane adjusted with the focusing means.
- a flow rate at which the microscopic objects are conveyed and the measuring distance duration can now be coordinated so that the distance between two successively examined detection planes relative to the object corresponds at most to the depth of field of the recorded sample images.
- the distance between the successively measured detection planes is therefore not expressed relative to a stationary reference point but relative to the moving object.
- a calculated overall image thereby also has a desired high resolution in the direction of movement of the objects.
- sample images should only be recorded automatically if a microscopic object is also in the measurement range.
- a monitoring measurement can be carried out, with which it is determined whether a microscopic object is in the measuring range.
- a recording of several sample images to different detection levels is only started if the Presence of a microscopic object has been detected in the measuring range.
- the monitoring measurement can be done inexpensively with a light barrier or a light sensor, which can be arranged in particular on the measuring tube in front of the measuring range.
- a transmitted light image of the measuring range can also be recorded, for example with the detection objective.
- the recording of a first sample image serve as a monitoring measurement, so that an adjustment of the focusing and a further sample image recording only take place when one of the microscopic objects is detected in the image.
- An adjustment of the focusing optics can be done in principle any way. Precise and rapid changes are possible, especially with hydraulically adjustable focusing optics.
- the focusing optics may comprise at least one lens displaceable along the optical axis of the detection lens. Particularly short adjustment times of the focusing optics can be achieved if the focusing optics has at least one component which can be moved in a laterally latitudinal direction and which effects different refractive powers depending on its lateral displacement. These components may comprise two, in particular aspherical, plates, which are laterally displaceable in order to change their jointly effected refractive power. These may be so-called Alvarez plates. The direction of a lateral displacement is transverse, in particular perpendicular, to the optical axis of the detection objective.
- the focusing optics can also have an optical component, for example a lens whose shape can be changed for a focus adjustment.
- an optical component for example a lens whose shape can be changed for a focus adjustment.
- a change in shape in particular a radius of curvature of one or more interfaces of the optical component can be changed.
- the optical component can be an electrically tunable lens (ETL).
- means of conveyance are preferably present. These may be, for example, a pump, or more generally a means by which, under energy consumption, a controlled rate of microscopic objects and / or surrounding sample medium can be adjusted.
- the sample vessel itself preferably comprises a measuring tube through which the microscopic objects can be transported.
- the measuring tube can also be formed by a tube or a capillary.
- the microscopic objects are supplied to the measuring tube from a reservoir, which may be for example an aquarium, a fish tank or a multiwell plate.
- a multiwell plate refers to a multi-well sample holder for separate sample collection.
- the measuring tube is square in cross section.
- detection light passes through a flat wall of the measuring tube, whereby aberrations are avoided.
- the measuring tube has a round cross-section.
- a particularly uniform sample movement is achieved through the measuring tube without parts of the sample or the sample medium sticking to the corners of a square measuring tube.
- the material of the measuring tube and a sample medium, in which the microscopic objects are transported through the measuring tube are selected so that their refractive indices differ by at most 15%, preferably at most 10%.
- the measuring tube FEP (fluorinated ethylene propylene) and water as a sample medium are selected so that their refractive indices differ by at most 15%, preferably at most 10%.
- the water may also be added a nutrient fluid or other substances.
- PTFE polytetrafluoroethylene
- n refractive index
- the fluoropolymer Cytop with n 1, 3402
- a refractive index jump to water which is to be considered in the design of the subsequent optical system, for example by an anamorphic optics.
- a hydrogel or a mixture of a hydrogel and water can also be used as sample medium.
- an immersion liquid can be arranged between the measuring tube and the front optics.
- a container for receiving an immersion liquid is present and arranged so the immersion liquid completely surrounds, at least in the region of the detection plane, a lateral surface of the measuring tube, and in a measuring operation the front optic is in contact with the immersion liquid.
- the immersion liquid can serve not only to reduce refractive index jumps, but also to set or keep ambient conditions, such as a certain temperature.
- the measuring tube can either be held rigidly or movably with respect to the detection objective. Translational displacements of the measuring tube in the direction of the optical axis and / or transversely thereto can be used to align the measuring tube. During the measuring operation, that is, the recording of multiple sample images to different detection levels, the position of the measuring tube remains unchanged even in this embodiment.
- the axis of rotation therefore runs centrally along the measuring tube and not merely parallel to its longitudinal axis. If the wall of the measuring tube is rotationally symmetrical, an optical interface formed by the wall remains stationary or stationary even during a rotation. By rotation, advantageously, different sample areas can be observed without having to move optical interfaces and this would have to be considered in the beam path of the detection light.
- the sample vessel can also be opened upwards.
- the front optics can be immersed in a sample medium in the sample container in which the microscopic objects are located.
- this reduces the number of optical interfaces.
- the sample vessel is also designed here so that the microscopic objects can move in it. This movement can be based on the microscopic objects themselves, for example if they are living organisms such as zebrafish. Alternatively, a movement can also be actively generated via a flow in the sample vessel, for example by means of a pump, a stir bar or a temperature gradient inside the sample vessel.
- the imaging agent Guide detection light from the detection plane to the detection device, arranged along exactly one optical axis.
- the optical axis itself can have directional changes via, for example, mirrors.
- not two objectives or microscopes are arranged one behind the other and obliquely, as is used, for example, in WO 2010/012980 A1, in order, inter alia, to change a focus.
- the optical axis of the rear microscope is inclined to an intermediate image plane, which is generated by the first microscope, whereby the imaging means are not arranged along one, but at least two optical axes.
- the type of microscopy can in principle be arbitrary in the invention. For example, a confocal filtering can be performed. In this case, the illumination light is directed to the sample via the detection objective.
- the light microscope is particularly preferably designed for light-sheet microscopy (SPIM, English: single plane illumination microscopy).
- the microscope comprises an illumination objective, which is different from the detection objective, for guiding illumination light, which is emitted by the light source, into the measurement area.
- the illumination objective is arranged so that its optical axis is perpendicular to an optical axis of the detection objective.
- a direction of propagation of the illumination light can lie in the detection plane, with which sample areas above and below the detection plane are advantageously not or only slightly illuminated.
- SPIM can achieve a high depth resolution.
- the required measurement time is relatively low, which is advantageous for achieving a high sample throughput.
- the detection objective can be arranged with its optical axis perpendicular to the longitudinal axis of the measuring tube. As a result, unwanted optical effects of the measuring tube can be kept low.
- the detection objective can also be arranged so that its optical axis is aligned at an angle different from 90 ° to a longitudinal axis of the measuring tube.
- an illumination objective can be arranged perpendicular to the detection objective and thus also obliquely to the longitudinal axis of the measurement tube. This advantageously achieves that a benGHz, which takes place in the longitudinal direction of the measuring tube, is obliquely to the detection plane.
- the sample movement thus has a directional component in the height direction of the detection objective, that is, along an optical axis of the detection objective. Therefore, the sample movement leads to a relative height adjustment between the detection plane and the sample.
- a desired height distance between two successively measured detection levels can be adjusted relative to the sample by controlling the focusing means and the sample movement dependent on each other.
- the electronic control means between two sample image recordings can stiffen the detection plane by means of the focusing optics in a direction which has a direction component opposite to the direction of movement of the microscopic objects.
- a plurality of sample images can be recorded more quickly for a microscopic object than would be possible solely by the sample movement.
- the electronic control means may also be configured to adjust the detection plane between two sample image recordings by means of the focusing optics in a direction which has a directional component in the direction of movement of the microscopic objects.
- the electronic control means may also be configured to adjust the detection plane between two sample image recordings by means of the focusing optics in a direction which has a directional component in the direction of movement of the microscopic objects.
- this variant is advantageous if a first sample image is first evaluated with image processing means and, depending on an evaluation result, further sample images are to be recorded.
- a sample movement which takes place during the transmission, processing and evaluation of the first sample image, can be at least partially compensated by the focusing means shifting the detection plane.
- the speed of the sample movement can also be set so that it is smaller than a displacement speed of the detection plane through the focusing optics. This allows to a detection level, for example if a region of interest of interest is identified there, then further detection planes are examined, which are shifted relative to the sample in or opposite to the sample movement.
- At least one second detection objective may also be present, so that different detection levels can be imaged simultaneously with the detection objectives.
- the detection objectives can either guide the detection light one after the other to the same detection device or simultaneously to different detection devices.
- scanning means can be arranged in a pupil of an illumination objective, with which illumination light is guided into the measurement area.
- a change of a light deflection direction of the scanning means causes a shifted course of the illumination light in the sample vessel.
- a detection plane can be understood as meaning a plane within the sample vessel which is imaged with the detection objective on the detection device. Different regions of the plane can also be successively imaged onto the detection device, for example in the case of confocal measurements.
- the detection device is a basically arbitrary photosensitive measuring device. Preferably, it comprises at least one two-dimensional camera sensor in order to be able to measure a detection plane at one time.
- the measuring range can be identical to the detection level. This is the case, for example, with SPIM, where the detection level is being illuminated. If regions above or below the detection plane are also illuminated, the region of measurement within the sample vessel can also be understood as the region which is illuminated and can subsequently emit detection light which can reach the detection device via the detection objective.
- the illumination light of the light source can in principle be of any type, in particular either broadband or restricted to one or more narrow wavelength ranges. In principle, the light source can also have any desired structure and, for example, comprise one or more lasers. Under the detection light light is understood, which emanates from the irradiation of the sample with illumination light from this. Thus, the detection light may be fluorescent light, or other luminescent light or scattered, reflected or diffracted illumination light.
- Fig. 1 shows an embodiment of an inventive
- FIG. 2 shows a section of a further embodiment of a light microscope according to the invention. Identical and identically acting components are generally provided with the same reference numerals in the figures.
- a first embodiment of a light microscope according to the invention 100 is shown schematically.
- the light microscope 100 comprises as essential components a detection objective 10 and a sample vessel 20 in which microscopic objects 22 to be examined can be located.
- the microscopic objects 22 are zebrafish 22. These are located in an aqueous sample medium which completely fills the sample vessel 20 in order to avoid variable airspaces and consequent image influencing.
- the sample vessel 20 is formed as a measuring tube 20. This connects a reservoir 1 with a discharge system 2. From the reservoir 1, the measuring tube 20 is supplied with microscopic objects.
- a pump may be provided to convey the sample medium and thus the zebrafish 22 through the measuring tube 20. Alternatively, however, the zebrafish 22 can also be activated by the measuring tube 20 move.
- the discharge system 2 can form a circuit to the reservoir 1.
- the measuring area is formed via a detection plane 15, which images the detection objective 10 onto a detection device 30. Detecting light emanating from an illuminated sample 22 is provided with the reference numeral 5 in the figure.
- a light source illuminates the measuring area and thus the detection plane.
- the light microscope 100 is designed for light-sheet microscopy.
- illumination light is directed transversely, in particular perpendicular, to the sample 22 with respect to an optical axis of the detection objective.
- the optical axis of the detection lens 10 is vertical and the propagation direction of the illumination light extends into or out of the paper plane. As a result, essentially only the detection plane 15 is illuminated.
- the distance 6 between the sample vessel 20 and the objective 10 is usually changed in conventional microscopes.
- this is relatively time-consuming because of the large masses moved in this case.
- a changing distance 6 has a detrimental effect on the optics design.
- relatively time consuming is an adjustment of, for example, a lens subordinate zoom optics.
- the invention allows a rapid adjustment of the detection plane 15 or 16 shown on the detection device 30 by adjusting a focusing optics 12.
- This is located in the lens 10 behind a front optics 1 1 of the lens 10.
- a movement of the focusing optics 12 affects no optical interfaces and no dimensions between the sample vessel 20 and the lens 10th
- the focusing optics 12 is also arranged in front of an intermediate image plane, in which an image of the detection plane 15 or 16 is imaged with the objective 10.
- a beam path from the intermediate image plane to the detection device 30 is characterized irrespective of a selection of one of the detection planes 15 or 16, that is, no optical elements between the intermediate image plane and the detection device 30 have to be changed depending on which detection planes 15 or 16 are to be imaged.
- a simple and inexpensive microscope design can be realized. For this, it is decisive that only a section of the beam path from the sample 22 to the first intermediate image plane is influenced via the focusing optics 12.
- the focusing optics 12 may preferably comprise Alvarez plates.
- the measuring tube 20 remains stationary during several successive measurements of different detection levels 15, 16. Before or after, however, the measuring tube 20 can also be displaced in the three spatial directions 29 or rotated in the direction of the arrow 28 about its longitudinal axis. So that sample images are only taken at different detection levels 15, 16 when a microscopic object 22 is actually conveyed through the detection plane 15, 16, a monitoring measurement can be carried out. This is carried out in the example shown with a light barrier 18, wherein in principle the detection lens 10 can be used for this purpose. Particularly fast sample examinations are possible when the microscope 100 is designed for light-sheet microscopy. In this case, the direction of movement of the microscopic objects 22, that is to say the longitudinal direction of the measuring tube 20, can lie parallel to the detection planes 15, 16, as in the case of FIG. 1.
- detection planes are examined which lie obliquely to the longitudinal axis of the measuring tube 20.
- An embodiment of a light microscope 100 according to the invention designed for this purpose is shown in fragmentary form in FIG. 2.
- the optical axes of the two objectives 3 and 4 are perpendicular to each other and each oblique to the longitudinal axis of the measuring tube 20.
- an adjustment of the detection plane by the focusing optics 12 has a directional component in the longitudinal direction of the measuring tube 20.
- the light microscope 100 offers the possibility of analyzing samples 22 with a particularly high throughput.
- a three-dimensional sample image is determined by recording a plurality of mutually offset in height direction planes 15, 16 of the same sample 22.
Abstract
L'invention concerne un microscope optique servant à examiner des objets microscopiques avec un rendement élevé. Le microscope comporte une source lumineuse servant à éclairer une zone de mesure, un récipient d'échantillon dans lequel les objets microscopiques peuvent se déplacer les uns après les autres dans la zone de mesure, ainsi que des moyens de reproduction et un moyen de détection servant à mesurer la lumière de détection qui provient d'un objet microscopique présent dans la zone de mesure. Selon l'invention, le microscope est caractérisé en ce que les moyens de reproduction comportent un objectif de détection pourvu d'une optique avant immobile et d'une optique de focalisation mobile, l'optique de focalisation étant disposée en arrière de l'optique avant et en avant d'un plan d'image intermédiaire et peut être déplacée pour régler en hauteur le plan de détection. L'invention concerne en outre un procédé de microscopie correspondant.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013019951.4A DE102013019951B4 (de) | 2013-11-27 | 2013-11-27 | Lichtmikroskop und Mikroskopieverfahren zum Untersuchen mehrerer mikroskopischer Objekte |
PCT/EP2014/072090 WO2015078633A1 (fr) | 2013-11-27 | 2014-10-15 | Microscope optique muni d'un objectif à mise au point interne et procédé de microscopie pour examiner plusieurs objets microscopiques |
Publications (1)
Publication Number | Publication Date |
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EP3074808A1 true EP3074808A1 (fr) | 2016-10-05 |
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EP14796435.7A Pending EP3074808A1 (fr) | 2013-11-27 | 2014-10-15 | Microscope optique muni d'un objectif à mise au point interne et procédé de microscopie pour examiner plusieurs objets microscopiques |
Country Status (5)
Country | Link |
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US (2) | US10422983B2 (fr) |
EP (1) | EP3074808A1 (fr) |
JP (2) | JP6774874B2 (fr) |
DE (1) | DE102013019951B4 (fr) |
WO (1) | WO2015078633A1 (fr) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102013019951B4 (de) | 2013-11-27 | 2023-06-15 | Carl Zeiss Microscopy Gmbh | Lichtmikroskop und Mikroskopieverfahren zum Untersuchen mehrerer mikroskopischer Objekte |
JP6987493B2 (ja) * | 2016-11-11 | 2022-01-05 | オリンパス株式会社 | 顕微鏡 |
DE102016125255A1 (de) * | 2016-12-21 | 2018-06-21 | Carl Zeiss Jena Gmbh | Wellenfrontmanipulator und optisches Gerät |
US11385451B2 (en) * | 2017-02-08 | 2022-07-12 | The Regents Of The University Of California | Selective plane illumination in the conventional inverted microscope geometry by side illumination |
EP3474060A1 (fr) * | 2017-10-23 | 2019-04-24 | Max-Delbrück-Centrum für Molekulare Medizin in der Helmholtz-Gemeinschaft | Commande automatique de mise au point d'un microscope comprenant une lentille accordable électriquement |
KR102026983B1 (ko) * | 2018-03-29 | 2019-09-30 | 두산중공업 주식회사 | 가스터빈 내 파이프를 통과하는 유체의 오염물을 모니터링 하는 시스템 및 그 방법 |
US10690486B2 (en) | 2018-07-03 | 2020-06-23 | Amo Development, Llc | Water-immersed high precision laser focus spot size measurement apparatus |
DE102022210726A1 (de) | 2022-10-11 | 2024-04-11 | Carl Zeiss Microscopy Gmbh | Probenhalter |
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US20190384046A1 (en) | 2019-12-19 |
US10634888B2 (en) | 2020-04-28 |
WO2015078633A1 (fr) | 2015-06-04 |
JP2017501441A (ja) | 2017-01-12 |
JP2021006927A (ja) | 2021-01-21 |
US10422983B2 (en) | 2019-09-24 |
DE102013019951A1 (de) | 2015-05-28 |
US20170160529A1 (en) | 2017-06-08 |
DE102013019951B4 (de) | 2023-06-15 |
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