EP3452856A1 - Microscope and method for localizing fluorescent molecules in three spatial dimensions - Google Patents
Microscope and method for localizing fluorescent molecules in three spatial dimensionsInfo
- Publication number
- EP3452856A1 EP3452856A1 EP17721132.3A EP17721132A EP3452856A1 EP 3452856 A1 EP3452856 A1 EP 3452856A1 EP 17721132 A EP17721132 A EP 17721132A EP 3452856 A1 EP3452856 A1 EP 3452856A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- point light
- light sources
- microscope according
- sample
- localization
- 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
- 238000000034 method Methods 0.000 title claims description 28
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 230000003287 optical effect Effects 0.000 claims abstract description 29
- 230000004807 localization Effects 0.000 claims description 42
- 238000005286 illumination Methods 0.000 claims description 25
- 230000005284 excitation Effects 0.000 claims description 14
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000002123 temporal effect Effects 0.000 claims description 5
- 210000001747 pupil Anatomy 0.000 claims description 4
- 230000036962 time dependent Effects 0.000 claims description 4
- 238000003491 array Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 102000034287 fluorescent proteins Human genes 0.000 claims description 3
- 108091006047 fluorescent proteins Proteins 0.000 claims description 3
- 238000007476 Maximum Likelihood Methods 0.000 claims description 2
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000001427 coherent effect Effects 0.000 claims description 2
- 238000012805 post-processing Methods 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 239000000523 sample Substances 0.000 description 27
- 239000002245 particle Substances 0.000 description 7
- 229920013655 poly(bisphenol-A sulfone) Polymers 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000002060 fluorescence correlation spectroscopy Methods 0.000 description 5
- 238000000386 microscopy Methods 0.000 description 5
- 238000000917 particle-image velocimetry Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000001454 recorded image Methods 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 210000000601 blood cell Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 238000005100 correlation spectroscopy Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000975 dye Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005281 excited state Effects 0.000 description 1
- 239000007850 fluorescent dye Substances 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 238000001119 image correlation spectroscopy Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 238000000059 patterning Methods 0.000 description 1
- 230000002186 photoactivation Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000002096 quantum dot Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000010186 staining Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/002—Scanning microscopes
- G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
- G02B21/0052—Optical details of the image generation
- G02B21/0076—Optical details of the image generation arrangements using fluorescence or luminescence
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/0004—Microscopes specially adapted for specific applications
- G02B21/002—Scanning microscopes
- G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
- G02B21/0032—Optical details of illumination, e.g. light-sources, pinholes, beam splitters, slits, fibers
-
- 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
- G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
- G02B21/365—Control or image processing arrangements for digital or video microscopes
- G02B21/367—Control or image processing arrangements for digital or video microscopes providing an output produced by processing a plurality of individual source images, e.g. image tiling, montage, composite images, depth sectioning, image comparison
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/58—Optics for apodization or superresolution; Optical synthetic aperture systems
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B2207/00—Coding scheme for general features or characteristics of optical elements and systems of subclass G02B, but not including elements and systems which would be classified in G02B6/00 and subgroups
- G02B2207/113—Fluorescence
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B2207/00—Coding scheme for general features or characteristics of optical elements and systems of subclass G02B, but not including elements and systems which would be classified in G02B6/00 and subgroups
- G02B2207/129—Coded aperture imaging
Definitions
- the present invention relates to a microscope and a method for locating fluorescent molecules in three spatial dimensions.
- TIR illumination TIR stands for Total Internal Reflection
- Localization with light sheet illumination improves the signal-to-background ratio and allows localization even in thick samples. Without further aids, however, it is not possible to localize precisely along the detection axis (z-axis) within the illuminated layer.
- the light field technology significantly increases the depth of field of the detection lens while maintaining the light efficiency of the optical system (as opposed to reducing the numerical aperture), and therefore using high numerical aperture objectives detects molecules from a larger area along the optical axis and with comparatively higher precision can be located.
- the light field technology also allows the localization of along the detection axis (ie the z-axis) directly behind each other molecules.
- Other technologies such as those using cylindrical lenses and similar optical elements, do not permit localization of molecules directly one behind the other, and when the images of two molecules are superimposed, they often can not be precisely and robustly located. Therefore, it is indispensable to have the number of simultaneously emitting
- PIV Particle Imaging Velocimetry
- the light field technology was used in conjunction with PIV (Particle Imaging Velocimetry) to localize particle flows.
- PIV Particle Imaging Velocimetry
- the outstanding suitability of Light-Field technology for the localization of particles has been demonstrated.
- PIV particles are imaged in a few centimeters large sample volumes whose size is well above ⁇ or the resolution limit of a microscope.
- the precision of the localization does not exceed the diffraction limit.
- the localization is via scattered light and no selection of the particles is made, i. It is detected by all particles in the illuminated volume scattered light. Since no single molecules are located, the use of dark states (eg, triplet states) or similar metastable excited states of fluorescent molecules is out of the question.
- PIV does not image individual molecules but microscopic particles.
- the object of the present invention is therefore to provide a microscope and a method which ensures the localization of individual molecules or generally point light sources in three spatial dimensions.
- the invention provides a microscope, comprising an illumination optics for fluorescence excitation of point light sources of a sample, a detection optics and a camera with a spatially resolving sensor, wherein the density of the emitting
- the invention provides a microscope for the ideally over-resolved localization of single molecules or generally point light sources in three
- Illumination optics at least one light sheet, with which the sample is illuminated from at least one direction and the means for subdividing the detection aperture comprises a microlens array.
- the combination of light field camera and light sheet illumination provided thereby for the microscope according to the invention results in a light field localization technique, which is explained in more detail below.
- Point light source necessary, which are mapped by different microlenses on the sensor. Typically, however, each point light source is imaged by multiple microlenses, resulting in an overlap of image areas of different point light sources. On the sensor, each point light source occupies an area corresponding to the area
- Point light sources so can cover.
- An essential aspect of the invention is thus to limit the density of the point light sources in each individual recorded image.
- the localization of point light sources in a three-dimensional volume is thus ensured by the fact that their number is kept low to the
- the least possible overlap of image areas of different point light sources can be achieved by the following measures:
- Fluorophores in the sample are kept sufficiently low, such as in Ca 2+ imaging individual gCamP-labeled neurons with genetically encoded Ca 2+ probes or in the imaging of the blood flow of the staining of a subset of blood cells.
- switchable fluorophores in the case of a relatively high density of fluorophores in the sample, with a sufficiently small subgroup in each for each image
- Fluorescence emission excitable molecular state is brought ("turned on"), for example, by photoactivation, transient binding o. ⁇ ., Or a sufficiently large subgroup is brought into a state not fluorescent excitable state ("off");
- the density of the fluorophores themselves in the sample is too high, but for each image a sufficiently small subset of point light sources is excited to emit fluorescent light, such as by structured illumination.
- the requirement established in the context of the invention for a low density of point light sources can be met in different ways.
- the point light sources can be switchable fluorophores, such as dye molecules or fluorescent proteins, or quantum dots.
- the activation of the fluorophores may e.g. about the weak and / or short-term
- PAM Radiation of light by achieving a conformity difference are caused (PALM, STORM).
- the activation may e.g. also by a chemical
- Conformation change can be effected, which causes the point light source is set in a stimulated at the intended excitation wavelength for fluorescence emission state.
- the wavelength used for the circuit is usually different from the wavelength that can be used to excite the fluorescence emission.
- molecules to be imaged can also be converted into the on state by a chemical bond (PAINT).
- PAINT chemical bond
- GSD microscopy the ground state of the fluorescence excitation is depopulated by the molecules are converted into a metastable dark state from which they are no longer excitable.
- a method of RESOLFT microscopy can be used in which a light-induced circuit of the
- Point light sources is used to ensure that only a subset of the
- Emit fluorescence In principle, it is also possible to use a non-optical measure, namely to chemically pay attention to a low density when coloring the sample.
- An alternative is to use so-called "brainbow" organisms stained with a particular fluorescent protein, with each molecule emitting in each of several spectral bands, so that one set of appropriate spectral filters can hide each of the molecules ,
- the illumination, switching in the on, off or a dark state, fluorescence excitation of the point light sources can be done via the detection objective (epifluorescence), via a condenser placed opposite the detection objective or, in a particularly advantageous manner, from the side with the light sheet (SPIM).
- the thickness of the light sheet is ideally adjusted so that the entire area is to be located out of the, is illuminated for each shot of a camera image.
- the area to be localized is typically the area within the depth of field of the
- Detection optics with depth of field in the context of this figure, e.g. the area along the optical axis within which the diameter of the image of a point light source is not more than a multiple, e.g. of the double, the diameter is in focus. At the same time, the lighting along the optical axis of the
- Detection optics as far as possible be restricted to this area.
- the illumination of a layer in the sample from the side is particularly advantageous.
- Illumination optics for activating the point light sources provides a coherent or incoherent structured illumination.
- Camera sensor is detected. By structuring the lighting should a
- Subset / subset of located in the depth of field of the detection optics point light sources illuminated and possibly excited.
- This patterning can be achieved by interference of several of e.g. two or three beams are propagated, which propagate at an angle to each other through the sample volume.
- the sample can also be scanned with a focused beam.
- the propagation direction of the rays may advantageously lie in the plane of the light sheet, which in turn coincides with the
- Focus plane of the detection optics coincides, or within the depth of field of the detection optics or within the range along the optical axis in which a localization is possible, is located. If the propagation directions of the rays lie in one plane, these include e.g. 180 ° for two beams and 120 ° for three beams. Preferably, the phase of at least one sub-beam can be varied so that the illumination pattern shifts by a fraction of the period. However, through the (mutual)
- the simplification of the localization due to the fact that there is less overlapping and overlapping of the images from different point sources on the sensor.
- the number of raw images needed for a complete image of a plane should be minimized, e.g. on 9.
- the excitation and on / off switching of these point light sources can be done by PALM, STORM, PAINT, GSD or similar methods and these methods can be used with the structured illumination discussed above be combined.
- the microlenses of the microlens array are larger than the spacing of the pixels on the camera sensor.
- the size of the microlenses of the microlens array is advantageously matched to the image-side aperture of the detection optics such that the images of the microlenses illuminate the camera sensor substantially completely.
- the images of the microlenses on the camera sensor cover a maximum of an area that corresponds to the size of the microlens and it ideally comes to any
- the microlens array comprises groups of microlenses of the same or different focal lengths, and the centers of the microlenses of the microlens array are preferably arranged on a two-dimensional Bravais lattice.
- the reconstruction of images takes place via an iterative algorithm as described, for example, in EP 2 244 484 A1, which allows about 200 levels to be resolved within the depth of field, wherein each of the images has a number of pixels which is approximately one quarter of the number of pixels of the camera sensor.
- the special feature of the microscopy according to the invention is the reconstruction, which provides to search for matches between the images of the individual microlenses, which is particularly well represented for isolated particles.
- the microlens array may be located in or near a sample conjugate plane or in or near a plane conjugate to the pupil. It can be designed together with the camera sensor as a light field camera and then in a common
- housing be housed.
- this forms together with an upstream lens, which is preferably a
- Tubus lens acts, and the aperture for the microlens array is sufficient to form a telescope to Galilei or Kepler.
- the microscope according to the invention comprises a post-processing device for
- the triangulation preferably comprises an iterative maximum likelihood method, the diffractive optical properties of
- Microlens arrays as means for subdividing the detection aperture into individual ones
- the iterative algorithm is preferably designed to determine matches between the images of the individual microlenses and to deduce the position of the point light source associated with the images.
- the algorithm is designed in such a way that it works analogously to the triangulation with the parallax, which results from the fact that different microlenses the individual
- Detection volume ie, a region about an axis, on the microlens associated region of the sensor behind the microlens.
- Point light source can thus be determined as the intersection of the at least two axes.
- matching structures in the images are determined via different microlenses.
- point light sources a distinction is hardly possible and it must be used either on the arrangement of multiple Punklichtánn or on a priori information.
- a database contains the sensor raw images of one point light source per image.
- the raw images cover point light sources at positions that are distributed over the entire object volume.
- the reconstruction of the position of a point light source then takes place via a comparison of that of the object
- the method according to the invention for localizing point light sources of a sample in three spatial dimensions is based on the microscope according to the invention.
- a rapid recording of a time series and a temporal and / or spatial correlation of the time-dependent signal belonging to individual subvolumes are carried out.
- a detectable 3D localization volume can be increased by displacing the sample along the optical axis of the detection optics.
- a detectable 3D localization volume can be expanded by displacing the sample along the optical axis of the detection optics.
- the correlation algorithm is used to calculate calculated 3D localization points in which the correlation algorithm is used to superimpose calculated 3D localization points of different planes along the optical axis of the detection optics such that a cleanly defined and / or in the z direction enlarged 3D
- a detectable 3D localization volume can be increased by displacement of the sample perpendicular to the optical axis of the detection optics.
- a particularly rapid recording of a time series and temporal and / or spatial correlation of the individual subvolumes belonging time-dependent Signals provided, such as fluorescence correlation spectroscopy (FCS), Image
- ICS Correlation Spectroscopy
- STICS Spatiotemporal Image Correlation Spectroscopy
- Fluorescence signal measured with high temporal dynamics. This signal is then time correlated with itself (autocorrelated) or time correlated in time with the signals from other object points (ICS, STICS) or fluorophores (FCCS).
- ICS object points
- FCCS fluorophores
- the use of the localization method according to the invention for 3D fluorescence correlation spectroscopy (FCS) and for single-molecule tracking is particularly suitable.
- FIG. 1 shows a first embodiment of the microscope according to the invention for 3D localization by means of EPI fluorescence excitation
- FIG. 2 shows a second embodiment of the light field microscope according to the invention for SD localization by means of light sheet illumination
- FIG. 3 is an illustration of point light sources through a plurality of microlenses of the
- the first embodiment of a microscope shown in FIG. 1, has illumination optics, not shown, for fluorescence excitation of point light sources of a sample.
- Illumination optics are designed for EPI fluorescence excitation.
- the microscope of FIG. 1 comprises a detection optics with a detection objective 10.
- a dichroic mirror 11 In the beam path, a dichroic mirror 11, a tube lens 12 and a camera comprising a sensor 13 follow the detection objective.
- a means for subdividing the detection aperture in the form of a microlens array 14 is provided.
- microlenses of the microlens array 14 are larger than the pitch of the pixels on the camera sensor 13 and the size of the microlenses of the microlens array 14 is on the image-side aperture of the detection optics matched such that the images of the lens pupil imaged by the microlenses substantially fully illuminate the camera sensor 13.
- the microlens array 14 comprises microlenses of the same focal length.
- a microlens array 14a may be used which comprises groups of different focal lengths. Further, the centers of the microlenses of the microlens array 14, 14a
- microlens array 14, 14a in or near a sample conjugate plane or in or near a plane conjugate to the pupil.
- the illumination source and / or a fluorophore in the sample are designed to activate only a subset of the point light sources.
- the detection optics means for subdividing the detection aperture into individual subapertures in the form of microlens array 14, 14a ensures that the images that are spatially separated from the individual subapertures on the camera sensor 13, an object volume of different
- the lighting is based on the principle of epifluorescence excitation.
- the excitation, switching and other rays for exciting and influencing the fluorescence emission of the point light sources (20) is coupled via a dichroic mirror, which is mounted between the lens 10 and the tube lens 12. It is also possible a transmitted light illumination by a condenser 10 opposed to the object.
- the second embodiment of the light field microscope shown in Fig. 2 differs from the first embodiment of the light field microscope shown in that the 3D localization based on a light sheet illumination (30) for fluorescence excitation of point light sources of a sample, and that the microscope of Fig. 2 does not require the dichroic mirror 13 of the microscope of Fig. 1.
- band-pass filters are typically used so that only the fluorescent light of the molecules to be localized penetrates as far as the sensor.
- the illumination source and / or a fluorophore in the sample is designed to activate only a subset of the point light sources.
- FIG. 3 shows by way of example how each point light source is imaged by a plurality of microlenses of the microlens array 14, 14a, which results in an overlap of image areas of different point light sources 42, 44.
- each point light source occupies an area on the sensor which corresponds to the multiple of the resolution-limited imaging of the point light source.
- point light sources from other planes are also projected onto a 2D surface perpendicular to the optical axis of the detection optics.
- the images 46, 48 - preferably individual - different point light sources, so can partially cover.
- Fig. 3 it is apparent that in order to minimize the at least one point light source two clearly assignable images are required, which were recorded by different microlenses.
- the optimal density can be further limited. If the density of the point light sources is too high, an unambiguous assignment is not possible. If it is too small, information may be given away or more individual images may have to be taken for the final image. For every position in the sample, there is therefore a clear distribution of images of this sample behind the microlenses. Higher numbers than two images help to examine the measured patterns for plausibility. For example, a ring of lenses will produce images of a sample. In individual images, overlaying images of other point light sources may occur. If overlaps never occur, or only in a few images, then the number of point light sources can be increased, if desired.
- Reference numeral 50 identifies the image fields of the microlenses on the sensor.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Microscoopes, Condenser (AREA)
- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016108259 | 2016-05-03 | ||
DE102016123387 | 2016-12-02 | ||
PCT/EP2017/060390 WO2017191121A1 (en) | 2016-05-03 | 2017-05-02 | Microscope and method for localizing fluorescent molecules in three spatial dimensions |
Publications (1)
Publication Number | Publication Date |
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EP3452856A1 true EP3452856A1 (en) | 2019-03-13 |
Family
ID=58668890
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17721132.3A Pending EP3452856A1 (en) | 2016-05-03 | 2017-05-02 | Microscope and method for localizing fluorescent molecules in three spatial dimensions |
Country Status (3)
Country | Link |
---|---|
US (1) | US11067781B2 (en) |
EP (1) | EP3452856A1 (en) |
WO (1) | WO2017191121A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2024097096A (en) * | 2021-04-28 | 2024-07-18 | バイオニクス株式会社 | Optical measurement device |
DE102022128078A1 (en) | 2022-10-25 | 2024-04-25 | Carl Zeiss Microscopy Gmbh | METHOD AND DEVICE FOR MICROSCOPY |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US725567A (en) | 1902-09-25 | 1903-04-14 | Frederic E Ives | Parallax stereogram and process of making same. |
US7872796B2 (en) | 2007-01-25 | 2011-01-18 | Adobe Systems Incorporated | Light field microscope with lenslet array |
DE102008009216A1 (en) | 2008-02-13 | 2009-08-20 | Carl Zeiss Microimaging Gmbh | Apparatus and method for spatially high resolution imaging of a structure of a sample |
EP2244484B1 (en) | 2009-04-22 | 2012-03-28 | Raytrix GmbH | Digital imaging method for synthesizing an image using data recorded with a plenoptic camera |
DE102009043744A1 (en) | 2009-09-30 | 2011-03-31 | Carl Zeiss Microlmaging Gmbh | Method and microscope for three-dimensional resolution-enhanced microscopy |
US9658443B2 (en) * | 2013-03-15 | 2017-05-23 | The Board Of Trustees Of The Leland Stanford Junior University | Optics apparatus with detection of light rays received at different angles for output indicative of aliased views |
GB201413872D0 (en) * | 2014-08-05 | 2014-09-17 | Imp Innovations Ltd | Multiplexed optical projection tomography |
CN107850767B (en) | 2015-07-17 | 2021-09-28 | 徕卡显微系统复合显微镜有限公司 | Light sheet microscope for simultaneously imaging a plurality of object planes |
US9952422B2 (en) * | 2016-01-14 | 2018-04-24 | University Of Vienna | Enhancing the resolution of three dimensional video images formed using a light field microscope |
US10509215B2 (en) * | 2016-03-14 | 2019-12-17 | Olympus Corporation | Light-field microscope |
-
2017
- 2017-05-02 WO PCT/EP2017/060390 patent/WO2017191121A1/en unknown
- 2017-05-02 EP EP17721132.3A patent/EP3452856A1/en active Pending
- 2017-05-02 US US16/098,472 patent/US11067781B2/en active Active
Also Published As
Publication number | Publication date |
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WO2017191121A1 (en) | 2017-11-09 |
US11067781B2 (en) | 2021-07-20 |
US20190250390A1 (en) | 2019-08-15 |
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