ES2721202T3 - Método y aparato para determinar la ubicación de un instrumento médico con respecto a formación de imágenes por ultrasonidos, e instrumento médico para facilitar tal determinación - Google Patents
Método y aparato para determinar la ubicación de un instrumento médico con respecto a formación de imágenes por ultrasonidos, e instrumento médico para facilitar tal determinación Download PDFInfo
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- ES2721202T3 ES2721202T3 ES14719836T ES14719836T ES2721202T3 ES 2721202 T3 ES2721202 T3 ES 2721202T3 ES 14719836 T ES14719836 T ES 14719836T ES 14719836 T ES14719836 T ES 14719836T ES 2721202 T3 ES2721202 T3 ES 2721202T3
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- location
- medical instrument
- ultrasound
- transducer elements
- transmissions
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- 0 *CC1CCCC1 Chemical compound *CC1CCCC1 0.000 description 1
- TVSBRLGQVHJIKT-UHFFFAOYSA-N CC(C)C1CCCC1 Chemical compound CC(C)C1CCCC1 TVSBRLGQVHJIKT-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4477—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device using several separate ultrasound transducers or probes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/13—Tomography
- A61B8/14—Echo-tomography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4416—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
- A61B8/4488—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer the transducer being a phased array
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
- A61B8/4494—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer characterised by the arrangement of the transducer elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/461—Displaying means of special interest
- A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
- G01H9/004—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means using fibre optic sensors
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/11—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on acousto-optical elements, e.g. using variable diffraction by sound or like mechanical waves
- G02F1/125—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on acousto-optical elements, e.g. using variable diffraction by sound or like mechanical waves in an optical waveguide structure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
- A61B2090/3786—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument receiver only
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0093—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy
- A61B5/0095—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy by applying light and detecting acoustic waves, i.e. photoacoustic measurements
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- General Physics & Mathematics (AREA)
- Nonlinear Science (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Un sistema de ultrasonidos que comprende: una unidad de ultrasonidos que incluye una sonda (55) de ultrasonidos para adquirir una imagen anatómica de un cuerpo humano (60) y para situar un instrumento médico (70) con respecto a dicha imagen, incluyendo la sonda de ultrasonidos un primer conjunto de elementos transductores de formación de imágenes (550-1, 550-2 ...) y un segundo conjunto de elementos transductores de localización (551-1a, 551-2a, 551-1b ...), en el que el primer conjunto de elementos transductores de formación de imágenes es distinto e inconexo del segundo conjunto de elementos transductores de localización, en el que: el primer conjunto de elementos transductores de formación de imágenes está configurado para: (i) producir trasmisiones de formación de imágenes por ultrasonidos en el cuerpo humano, en el que las trasmisiones de formación de imágenes por ultrasonidos se enfocan en un plano (25) de barrido de imagen, y (ii) recibir reflexiones de las trasmisiones de formación de imágenes por ultrasonidos para generar una imagen anatómica bidimensional que corresponde al plano de barrido de imagen; y en el que el segundo conjunto de elementos transductores de localización está configurado para producir trasmisiones de localización de ultrasonidos en el cuerpo humano para ubicar el instrumento médico con respecto a la imagen anatómica, en el que las trasmisiones de localización de ultrasonidos se extienden hacia el exterior del plano de barrido de imagen, y en el que los elementos transductores de localización (551-1a, 551-2a) de dicho segundo conjunto están separados entre sí de modo que se disponen en cuatro compensaciones diferentes desde el plano de barrido de imagen; y una consola (65) de sensor para recibir las señales de un transductor en dicho instrumento médico que corresponden a las trasmisiones de localización; en el que el sistema de ultrasonidos está configurado para procesar las señales recibidas para determinar la ubicación del instrumento médico en el cuerpo humano con respecto a la sonda de ultrasonidos basándose en las señales recibidas.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB201307551A GB201307551D0 (en) | 2013-04-26 | 2013-04-26 | A method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging and a medical instrument |
GB201402759A GB201402759D0 (en) | 2013-04-26 | 2014-02-17 | A method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging, and a medical instrument to facilitatesuch |
PCT/GB2014/051286 WO2014174305A2 (en) | 2013-04-26 | 2014-04-25 | A method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging, and a medical instrument to facilitate such determination |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2721202T3 true ES2721202T3 (es) | 2019-07-29 |
Family
ID=48626885
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES14719836T Active ES2721202T3 (es) | 2013-04-26 | 2014-04-25 | Método y aparato para determinar la ubicación de un instrumento médico con respecto a formación de imágenes por ultrasonidos, e instrumento médico para facilitar tal determinación |
Country Status (5)
Country | Link |
---|---|
US (1) | US10363015B2 (es) |
EP (1) | EP2996606B1 (es) |
ES (1) | ES2721202T3 (es) |
GB (2) | GB201307551D0 (es) |
WO (1) | WO2014174305A2 (es) |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2013134782A1 (en) | 2012-03-09 | 2013-09-12 | The Johns Hopkins University | Photoacoustic tracking and registration in interventional ultrasound |
WO2015135055A1 (en) * | 2014-03-14 | 2015-09-17 | Synaptive Medical (Barbados) Inc. | System and method for projected tool trajectories for surgical navigation systems |
US11547487B2 (en) * | 2013-06-28 | 2023-01-10 | Koninklijke Philips N.V. | Scanner independent ultrasonic tracking of interventional instruments having an acoustic sensor by means of having an additional acoustic transducer coupled to ultrasound imaging probe |
RU2689176C2 (ru) * | 2014-01-02 | 2019-05-24 | Конинклейке Филипс Н.В. | Ориентация и отслеживание положения инструмента относительно плоскости ультразвукового изображения |
CN107106126B (zh) * | 2014-12-24 | 2021-05-28 | 皇家飞利浦有限公司 | 针对靶活检的针轨迹预测 |
GB201500641D0 (en) | 2015-01-15 | 2015-03-04 | Ucl Business Plc | Ultrasound probe |
US10806346B2 (en) * | 2015-02-09 | 2020-10-20 | The Johns Hopkins University | Photoacoustic tracking and registration in interventional ultrasound |
WO2016158073A1 (ja) | 2015-03-31 | 2016-10-06 | 富士フイルム株式会社 | 生検針および光音響計測装置 |
CA2989772C (en) | 2015-06-18 | 2021-06-01 | Avent, Inc. | Echogenic catheter member |
AU2015399045B2 (en) | 2015-06-18 | 2020-06-25 | Avent, Inc. | Echogenic coil member for a catheter assembly |
AU2015402582B2 (en) * | 2015-07-21 | 2021-04-29 | Avent, Inc. | Ultrasonic catheter assembly |
JP6668817B2 (ja) * | 2016-02-26 | 2020-03-18 | コニカミノルタ株式会社 | 超音波診断装置、及び制御プログラム |
US11419577B2 (en) * | 2016-04-18 | 2022-08-23 | Koninklijke Philips N.V. | Ultrasound system and method for breast tissue imaging |
WO2018000103A1 (en) * | 2016-06-30 | 2018-01-04 | The University Of British Columbia | Ultrasound shear wave vibro-elastography of the abdomen |
US11766297B2 (en) | 2016-09-16 | 2023-09-26 | Koninklijke Philips N.V. | Apparatus and method for detecting an interventional tool |
WO2018050885A1 (en) * | 2016-09-16 | 2018-03-22 | Koninklijke Philips N.V. | An apparatus and method for detecting an interventional tool |
EP3518770A1 (en) * | 2016-09-30 | 2019-08-07 | Koninklijke Philips N.V. | Tracking a feature of an interventional device |
EP3551081B1 (en) * | 2016-12-12 | 2022-11-09 | Koninklijke Philips N.V. | Smart tracked interventional tools including wireless transceiver |
WO2018108712A1 (en) * | 2016-12-12 | 2018-06-21 | Koninklijke Philips N.V. | Ultrasound guided positioning of therapeutic device |
WO2018116114A1 (en) * | 2016-12-21 | 2018-06-28 | Koninklijke Philips N.V. | System and method for fast and automated ultrasound probe calibration |
US20210353362A1 (en) * | 2017-01-19 | 2021-11-18 | Koninklijke Philips N.V. | System and method for imaging and tracking interventional devices |
US11259778B2 (en) | 2017-03-22 | 2022-03-01 | Boston Scientific Scimed Inc. | All optical atrial ablation device |
NL2019493B1 (en) * | 2017-09-06 | 2019-03-14 | De Raadt Beheer B V | Imaging device |
US11744731B2 (en) | 2018-03-15 | 2023-09-05 | Twenty Twenty Therapeutics Llc | Ultrasonic ophthalmic device |
WO2019192981A1 (en) * | 2018-04-02 | 2019-10-10 | Koninklijke Philips N.V. | Noise reduction for ultrasound operations |
JP7047556B2 (ja) * | 2018-04-10 | 2022-04-05 | コニカミノルタ株式会社 | 超音波診断装置及び穿刺針のずれ角度算出方法 |
JP7107760B2 (ja) * | 2018-06-12 | 2022-07-27 | 富士フイルムヘルスケア株式会社 | 超音波撮像装置 |
WO2020030557A1 (en) | 2018-08-08 | 2020-02-13 | Koninklijke Philips N.V. | Tracking an interventional device respective an ultrasound image plane |
EP3632333A1 (en) * | 2018-10-05 | 2020-04-08 | Koninklijke Philips N.V. | Interventional device positioning respective an ultrasound image plane |
EP3632332A1 (en) * | 2018-10-05 | 2020-04-08 | Koninklijke Philips N.V. | Tracking an interventional device respective an ultrasound image plane |
WO2020041622A1 (en) * | 2018-08-22 | 2020-02-27 | Bard Access Systems, Inc. | Systems and methods for infrared-enhanced ultrasound visualization |
DE102018215470A1 (de) * | 2018-09-12 | 2020-03-12 | B. Braun Melsungen Ag | Verfahren zur Positionsermittlung einer medizinischen Invasivkomponente sowie medizinisches System zur Ausführung eines solchen Verfahrens |
JP7168474B2 (ja) * | 2019-01-31 | 2022-11-09 | 富士フイルムヘルスケア株式会社 | 超音波撮像装置、治療支援システム、及び、画像処理方法 |
US11628470B2 (en) * | 2019-06-14 | 2023-04-18 | United States Of America As Represented By The Secretary Of The Air Force | Method for locating elements on a flexible ultrasound phased array |
CN110251807B (zh) * | 2019-06-17 | 2022-09-23 | 陈真 | 一种体内体外心电导联的无菌切换装置 |
US20210093289A1 (en) * | 2019-09-26 | 2021-04-01 | Cheng-Yuan HSIEH | Ultrasound system for improving needle visualization |
CN110537983B (zh) * | 2019-09-26 | 2021-05-14 | 重庆博仕康科技有限公司 | 光磁一体穿刺手术导航平台 |
CN216675901U (zh) | 2020-07-21 | 2022-06-07 | 巴德阿克塞斯系统股份有限公司 | 用于跟踪超声探头以创建三维(3d)可视化的基于磁的跟踪系统 |
EP4228516A1 (en) * | 2020-10-15 | 2023-08-23 | Bard Access Systems, Inc. | Ultrasound imaging system for generation of a three-dimensional ultrasound image |
TWI787734B (zh) * | 2021-02-09 | 2022-12-21 | 謝承原 | 具有拉鍊式陣列換能元件的超音波探頭 |
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Publication number | Priority date | Publication date | Assignee | Title |
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US5797849A (en) | 1995-03-28 | 1998-08-25 | Sonometrics Corporation | Method for carrying out a medical procedure using a three-dimensional tracking and imaging system |
US11147532B2 (en) * | 2011-06-13 | 2021-10-19 | Koninklijke Philips N.V. | Three-dimensional needle localization with a two-dimensional imaging probe |
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2013
- 2013-04-26 GB GB201307551A patent/GB201307551D0/en not_active Ceased
-
2014
- 2014-02-17 GB GB201402759A patent/GB201402759D0/en not_active Ceased
- 2014-04-25 EP EP14719836.0A patent/EP2996606B1/en active Active
- 2014-04-25 WO PCT/GB2014/051286 patent/WO2014174305A2/en active Application Filing
- 2014-04-25 US US14/775,566 patent/US10363015B2/en active Active
- 2014-04-25 ES ES14719836T patent/ES2721202T3/es active Active
Also Published As
Publication number | Publication date |
---|---|
WO2014174305A2 (en) | 2014-10-30 |
WO2014174305A3 (en) | 2014-12-18 |
EP2996606A2 (en) | 2016-03-23 |
GB201307551D0 (en) | 2013-06-12 |
US20160038119A1 (en) | 2016-02-11 |
GB201402759D0 (en) | 2014-04-02 |
EP2996606B1 (en) | 2019-04-17 |
US10363015B2 (en) | 2019-07-30 |
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