EP3139811A1 - Videoendoskop - Google Patents
VideoendoskopInfo
- Publication number
- EP3139811A1 EP3139811A1 EP15720081.7A EP15720081A EP3139811A1 EP 3139811 A1 EP3139811 A1 EP 3139811A1 EP 15720081 A EP15720081 A EP 15720081A EP 3139811 A1 EP3139811 A1 EP 3139811A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- assembly
- bending
- endoscope
- actuators
- endoscope shaft
- 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.)
- Withdrawn
Links
- 238000005452 bending Methods 0.000 claims abstract description 67
- 230000003287 optical effect Effects 0.000 claims abstract description 39
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B1/051—Details of CCD assembly
-
- 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
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00096—Optical elements
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0058—Flexible endoscopes using shape-memory elements
-
- 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
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00188—Optical arrangements with focusing or zooming features
Definitions
- the invention relates to a video endoscope, comprising an endoscope shaft, wherein in the endoscope shaft an optical assembly is provided in the distal region, wherein the assembly is mounted using a holder for the assembly in the endoscope shaft.
- video endoscopes encompasses endoscopes in conjunction with at least one image sensor which is designed to record a video recording, regardless of whether the image sensor is located distally in the endoscope shaft, proximally in a handle or externally in a camera head Eyepiece in the proximal region of the endoscope, so on the side of an operator is attachable.
- video endoscopes with a lateral direction of view, ie. a viewing direction not equal to 0 °, in which a distal deflection prism of a first optical assembly by a outer tube is aufgenonnnnen and the image sensor unit of the second optical group, in particular CCD image sensor unit, is arranged in an inner tube.
- the two tubes for the optical assemblies are tensioned in the proximal grip region by a spring, wherein a radial bearing is provided in the distal region of the endoscope shaft between the outer tube and the inner tube.
- the object of the invention is to improve a supported arrangement of an assembly in the endoscope shaft of an endoscope in a simple manner.
- a video endoscope comprising an endoscope shaft, wherein in the endoscope shaft an optical assembly is provided in the distal region, wherein the assembly is mounted using a holder for the assembly in the endoscope shaft, that is further developed that the holder for the assembly at least comprising one or more reversibly deformable bending actuators, wherein the bending actuator (s) are arranged to move the assembly upon movement of the bending actuator (s), preferably with respect to one or the longitudinal axis of the endoscope shaft.
- the invention is that by using one or more bending actuators for holding an optical assembly in the endoscope shaft, it is possible to position and align the assembly by deflecting the bending actuators.
- the optical assembly is designed as an image sensor unit, it is possible, for example, to correspondingly adapt and change the distance between an objective and the image sensor unit held by means of the bending actuators. This ensures that the image sensor unit can be moved and / or tilted relative to the objective in the endoscope shaft and / or with respect to the longitudinal axis of the endoscope shaft, whereby it is possible to compensate for tolerances in the production and assembly of the assemblies.
- an embodiment of the endoscope is characterized in that at least one or more, in particular two or three or four bending actuators are arranged between the inner wall of the endoscope shaft and the assembly held by the bending actuators and / or that the bending actuators are symmetrical and / or are arranged uniformly with respect to a longitudinal axis of the endoscope shaft in the endoscope shaft.
- the optical axis for example the optical assembly moved by the bending actuators, can also be tilted or adjusted with respect to the longitudinal axis of the endoscope shaft.
- the bending actuators are each bar-shaped or formed as a bar-shaped element, which can be bent and executes a predetermined actuating path with a corresponding control by a control device or generates a predetermined force.
- the bending actuators are characterized in that they are reversibly deformable, so that after a deflection of the bending actuators, the assembly moved and deflected thereby is returned to its initial or original position.
- the bending actuators are radially inwardly aligned with respect to the longitudinal axis of the endoscope shaft, resulting in a star-shaped arrangement of the bending actuators.
- the bending actuator (s) are respectively connected at the end to the optical assembly to form an adhesive contact between the respective bending actuator and the assembly.
- the bending actuators are permanently and securely connected to the assembly to be moved by gluing.
- the bending actuator (s) are / are arranged on a part-circular or an annular holding body.
- the holding body is formed as a ring, so that on the ring, the bending actuators star-shaped inward, d .h. are arranged to the center of the ring and to the longitudinal axis of the endoscope shaft.
- the bending or the bending actuators are each formed as a flat and / or plate-shaped and / or strip-shaped Biegeaktuator.
- the at least one or the bending actuators be in each case configured as a piezoelectric bending actuator or as a bending actuator with a shaping actuator.
- a control device is provided for the at least one or for the bending actuators, wherein in particular the bending actuators can be actuated by means of the control device, preferably individually.
- the control device is provided outside the endoscope shaft, wherein the control device is connected via corresponding lines to the bending actuators in the interior of the endoscope shaft.
- the assembly is designed as an optical assembly with at least one lens and / or with a prism and / or with a lens.
- a further embodiment of the endoscope is characterized in that the assembly is designed as an image sensor unit with a CCD sensor or with a CMOS sensor.
- the fact that the position of an image sensor unit in the interior of the endoscope shaft is adjustably aligned using bending actuators results in easy handling of the image sensor unit, which is preferably designed as a rectangular component.
- By holding and simultaneously moving the image sensor unit by means of the bending actuators it is possible to easily adjust, for example, the distance between an objective and the image sensor unit (as an image sensor) during use.
- an improvement in the depth of field is achieved if the optimum distance between the objective and the image sensor unit is achieved by a movement of the image sensor unit by means of the bending actuators.
- Fig. 1 is a schematic representation of an endoscope according to the prior art
- Fig. 2a is a schematic cross section through one with a
- Image sensor unit and an arrangement formed in an optical gray group in cross section,
- Fig. 2b is a schematic plan view of the arrangement
- FIG. 2c is a perspective view of the assembly disposed in an endoscope shaft of an endoscope.
- FIG. 1 an endoscope 1 known from the prior art is shown schematically.
- the endoscope 1 has at the proximal end shown on the right a handle 3, which opens into an endoscope shaft 2.
- On the left side in Fig. 1 is the distal one End of the endoscope shaft 2 shown.
- the handle 3 has a rotary ring 4, by means of which bar magnet 5, ie, which are connected to an inner tube 7, the inner tube 7 can be rotated relative to an outer tube 6 in order to change the viewing direction of the endoscope 1.
- the inner tube 7 is also supported by means of a radial bearing 8.
- the handle 3 comprises a biasing device of a compression spring 9 which is biased against a stop 1 0 for the compression spring 9. The compression spring 9 ensures that the inner tube 7 is pressed or prestressed in the axial direction in the direction of the distal end 11 of the endoscope shaft 2.
- the endoscope shaft 2 has a window 12, which looks sideways. Behind the window 1 2 is an optical assembly 1 3 with lenses and prisms, with which the entering through the window 1 2 light is directed in a direction parallel to the longitudinal axis of the endoscope shaft 2.
- the optical assembly 1 3 is held by a bracket 14 which is connected to the outer tube 6.
- the window 12 is also part of the optical assembly 1 third
- a second optical assembly 16 which terminates in an image sensor unit 19 in this case, adjoins the first optical assembly 1 3.
- the second optical assembly 1 6 is supported in a holder 1 7, which is connected to the inner tube 7 so that it carries out rotations or displacements of the inner tube 7 with.
- the inner tube 7 is mounted in the region of the distal end 1 1 of the endoscope shaft 2 by means of a radial bearing 18 radially relative to the outer tube 6.
- the distal front surface of the holder 1 7 of the second optical construction group 16 and the proximal front surface of the holder 14 of the first optical assembly 1 3 are arranged opposite to each other and form a thrust bearing 1 5.
- the thrust bearing 1 5 is closed, ie the distal-side front surface of the holder 1 7 is pressed against the proximal-side front surface of the holder 14.
- the axial position of the second optical assembly 1 6 with respect to the first optical assembly 1 3 is firmly defined.
- FIG. 2 a shows schematically in cross-section an optical arrangement for an endoscope shaft, the arrangement having as an optical first assembly 20 a lens system with a plurality of lenses 21 .1 to 21 .5.
- the lenses 21 .1. to 21 .5 of the lens system 20 are arranged in a sleeve-like holder or sleeve 22.
- the arrangement shown is arranged, for example, in the distal end of an endoscope shaft (not shown here).
- the sleeve 22 with the lens arrangement or the lens system is surrounded by a further sleeve 24, at the end facing away from the lens system, an image sensor 26 is arranged to the light rays passing through the lenses 21 .1 to 21 .5 of the lens system of the first optical assembly to record.
- the image sensor unit 26 is supported using bending actuators 30.1, 30.2, 30.3, 30.4 disposed on a ring 28.
- the ring 28 is in this case disposed on the inside of the sleeve 24 in a receptacle and surrounds the image sensor unit 26th
- FIG. 2b shows a plan view of the image sensor unit 26 and the bending actuators 30.1 to 30.4 connected to the image sensor unit 26.
- perspective shown in Figure 2c perspective View is shown transparent for reasons of better representability of the image sensor 26.
- the bending actuators 30.1 to 30.4 are star-shaped and uniformly inwardly projecting, d .h. to the central longitudinal axis of the (not shown here) endoscope shaft arranged inwardly protruding, wherein at the ends of the plate-shaped elongated bending actuators 30.1 to 30.4 of the image sensor 26 is connected in the edge region with the bending actuators 30.1 to 30.4.
- the bending actuators 30.1 to 30.4 are formed in parallelepiped from a plurality of piezoelectric layers, so that the bending actuators 30.1 to 30.4 are deflected in a controlled manner by utilizing the piezoelectric effect and a corresponding control of the bending actuators by means of a control device (not shown here), whereby the optical axis the image sensor unit 26 is aligned, for example, tilted relative to the longitudinal axis of an endoscope shaft.
- the actuators can therefore be equipped with sensors, not shown, via which the controller or the control device can determine the current deflection of the actuators.
- FIGS. 2a to 2c The arrangement shown in FIGS. 2a to 2c with the lens system and the image sensor unit 26 is preferably arranged in the distal region of an endoscope shaft (not shown here).
- the bending actuators 30.1 to 30.4 are made, for example, as a shape memory alloy or bimetals, so that the bending actuators 30.1 to 30.4 are also reversibly movable to the position of the image sensor unit 26 with respect to the Linsensys - tem trained first optical assembly to move.
- the bending actuators 30.1 to 30.4 By a deflecting movement of the bending actuators 30.1 to 30.4 in a controlled manner, the distance between the lens system and the image sensor unit is changed and adjusted.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Signal Processing (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Studio Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014208652.3A DE102014208652A1 (de) | 2014-05-08 | 2014-05-08 | Videoendoskop |
PCT/EP2015/059571 WO2015169694A1 (de) | 2014-05-08 | 2015-04-30 | Videoendoskop |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3139811A1 true EP3139811A1 (de) | 2017-03-15 |
Family
ID=53039908
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15720081.7A Withdrawn EP3139811A1 (de) | 2014-05-08 | 2015-04-30 | Videoendoskop |
Country Status (6)
Country | Link |
---|---|
US (1) | US20170049307A1 (de) |
EP (1) | EP3139811A1 (de) |
JP (1) | JP6526177B2 (de) |
CN (1) | CN106455909B (de) |
DE (1) | DE102014208652A1 (de) |
WO (1) | WO2015169694A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012219354A1 (de) * | 2012-10-23 | 2014-04-24 | Olympus Winter & Ibe Gmbh | Aktuator für ein chirurgisches Instrument |
WO2019207739A1 (ja) * | 2018-04-26 | 2019-10-31 | オリンパス株式会社 | 撮像装置、内視鏡、および、撮像装置の製造方法 |
DE102018128306A1 (de) * | 2018-11-13 | 2020-05-14 | Olympus Winter & Ibe Gmbh | Videoendoskop und Bremselement |
JP2022014355A (ja) * | 2020-07-06 | 2022-01-19 | ソニーグループ株式会社 | 医療用観察システム、制御装置、制御方法、及びプログラム |
EP4380422A1 (de) * | 2021-08-03 | 2024-06-12 | Boston Scientific Scimed, Inc. | Steuermechanismus für eine medizinische vorrichtung und verfahren zur verwendung |
Family Cites Families (34)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6053920A (ja) * | 1983-09-05 | 1985-03-28 | Olympus Optical Co Ltd | 内視鏡用テイルト・シフト装置 |
JPS63155115A (ja) * | 1986-12-19 | 1988-06-28 | Olympus Optical Co Ltd | 立体観察電子内視鏡 |
DE19924361C2 (de) * | 1999-05-27 | 2002-05-08 | Winter & Ibe Olympus | Endoskop |
DE19927129C1 (de) * | 1999-06-15 | 2001-01-04 | Wolf Gmbh Richard | Fokussier- und Brennweiteneinstellvorrichtung für eine Videokamera |
JP2003032537A (ja) * | 2001-07-13 | 2003-01-31 | Miwa Engineering:Kk | 撮像素子移動装置及び電子カメラ |
US6710950B2 (en) * | 2002-06-05 | 2004-03-23 | Nokia Mobile Phones Limited | Piezoelectric actuator for digital camera optical system |
JP3831318B2 (ja) * | 2002-08-22 | 2006-10-11 | オリンパス株式会社 | 内視鏡用撮像装置 |
JP2004212842A (ja) * | 2003-01-08 | 2004-07-29 | Fuji Photo Film Co Ltd | レンズ駆動装置、及び撮像素子駆動装置 |
JP2005176293A (ja) * | 2003-11-21 | 2005-06-30 | Pentax Corp | 撮像装置 |
JP2006075289A (ja) * | 2004-09-08 | 2006-03-23 | Olympus Corp | 内視鏡 |
JP4059322B2 (ja) * | 2004-10-19 | 2008-03-12 | 松下電器産業株式会社 | 圧電アクチュエータ、これを用いた撮像素子移動装置および撮像装置 |
CN100468113C (zh) * | 2004-12-24 | 2009-03-11 | 鸿富锦精密工业(深圳)有限公司 | 镜头模组 |
CN100582914C (zh) * | 2005-09-30 | 2010-01-20 | 鸿富锦精密工业(深圳)有限公司 | 自动对焦结构及应用该对焦结构的数码相机模组 |
WO2007063360A1 (en) * | 2005-11-30 | 2007-06-07 | Nokia Corporation | Method and system for image stabilization |
JP4800805B2 (ja) * | 2006-03-15 | 2011-10-26 | オリンパスメディカルシステムズ株式会社 | 撮像装置 |
JP4836252B2 (ja) * | 2006-07-19 | 2011-12-14 | オリンパス株式会社 | 内視鏡 |
JP5048992B2 (ja) * | 2006-10-18 | 2012-10-17 | オリンパス株式会社 | 可変分光素子および、それを備えた内視鏡システム |
JP5042656B2 (ja) * | 2007-02-09 | 2012-10-03 | オリンパスメディカルシステムズ株式会社 | 撮像装置 |
US8427533B2 (en) * | 2007-12-19 | 2013-04-23 | Olympus Medical Systems Corp. | Image pickup apparatus, electronic endoscope, and lens unit |
JP5030762B2 (ja) * | 2007-12-19 | 2012-09-19 | オリンパスメディカルシステムズ株式会社 | 撮像装置、及び電子内視鏡 |
JP5393060B2 (ja) * | 2008-06-04 | 2014-01-22 | オリンパスメディカルシステムズ株式会社 | 撮像ユニット |
JP5289870B2 (ja) * | 2008-09-08 | 2013-09-11 | オリンパスメディカルシステムズ株式会社 | 内視鏡用撮像ユニット |
WO2010047396A1 (ja) * | 2008-10-24 | 2010-04-29 | オリンパスメディカルシステムズ株式会社 | 内視鏡挿入部 |
JP2011017946A (ja) * | 2009-07-10 | 2011-01-27 | Sony Corp | 撮像装置 |
DE102010039263A1 (de) * | 2010-08-12 | 2012-02-16 | Olympus Winter & Ibe Gmbh | Kamerakopf für ein endoskopisches Instrument und Videoendoskopiesystem |
WO2012063816A1 (ja) * | 2010-11-09 | 2012-05-18 | オリンパスメディカルシステムズ株式会社 | 内視鏡用撮像装置 |
JP5817175B2 (ja) * | 2011-03-29 | 2015-11-18 | ソニー株式会社 | レンズモジュール、撮像装置、および電子機器 |
EP2605053B1 (de) * | 2011-04-05 | 2016-06-01 | Olympus Corporation | Bildaufnahmevorrichtung |
WO2013012063A1 (ja) * | 2011-07-20 | 2013-01-24 | 株式会社ニコン | レンズ鏡筒、撮像装置及びレンズ鏡筒の制御方法 |
EP2634614B1 (de) * | 2011-08-10 | 2014-10-08 | Olympus Medical Systems Corp. | Endoskopvorrichtung |
KR20130024301A (ko) * | 2011-08-31 | 2013-03-08 | 엘지이노텍 주식회사 | 카메라 모듈 |
JP2013200366A (ja) * | 2012-03-23 | 2013-10-03 | Sony Corp | カメラモジュールおよびカメラ装置 |
CN103054544B (zh) * | 2012-10-18 | 2014-11-05 | 无锡微奥科技有限公司 | 一种双工作模式mems光学探头 |
WO2015093398A1 (ja) * | 2013-12-18 | 2015-06-25 | オリンパス株式会社 | 内視鏡及び内視鏡システム |
-
2014
- 2014-05-08 DE DE102014208652.3A patent/DE102014208652A1/de not_active Withdrawn
-
2015
- 2015-04-30 JP JP2017510747A patent/JP6526177B2/ja not_active Expired - Fee Related
- 2015-04-30 CN CN201580019431.5A patent/CN106455909B/zh not_active Expired - Fee Related
- 2015-04-30 WO PCT/EP2015/059571 patent/WO2015169694A1/de active Application Filing
- 2015-04-30 EP EP15720081.7A patent/EP3139811A1/de not_active Withdrawn
-
2016
- 2016-11-04 US US15/343,271 patent/US20170049307A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
CN106455909A (zh) | 2017-02-22 |
CN106455909B (zh) | 2019-09-10 |
US20170049307A1 (en) | 2017-02-23 |
WO2015169694A1 (de) | 2015-11-12 |
JP6526177B2 (ja) | 2019-06-05 |
DE102014208652A1 (de) | 2015-11-12 |
JP2017520353A (ja) | 2017-07-27 |
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