ES2987433T3 - Alineación cinemática y prótesis femoral y tibial novedosa - Google Patents
Alineación cinemática y prótesis femoral y tibial novedosa Download PDFInfo
- Publication number
- ES2987433T3 ES2987433T3 ES15779900T ES15779900T ES2987433T3 ES 2987433 T3 ES2987433 T3 ES 2987433T3 ES 15779900 T ES15779900 T ES 15779900T ES 15779900 T ES15779900 T ES 15779900T ES 2987433 T3 ES2987433 T3 ES 2987433T3
- Authority
- ES
- Spain
- Prior art keywords
- axis
- femur
- tibia
- guide
- tibial
- 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.)
- Active
Links
- 210000002303 tibia Anatomy 0.000 claims abstract description 299
- 210000000689 upper leg Anatomy 0.000 claims abstract description 239
- 238000000034 method Methods 0.000 claims abstract description 106
- 210000003127 knee Anatomy 0.000 claims abstract description 84
- 210000004417 patella Anatomy 0.000 claims abstract description 56
- 210000000629 knee joint Anatomy 0.000 claims abstract description 46
- 238000011882 arthroplasty Methods 0.000 claims abstract description 14
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 4
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 229910001256 stainless steel alloy Inorganic materials 0.000 claims description 4
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- 239000010936 titanium Substances 0.000 claims description 4
- 238000013519 translation Methods 0.000 abstract description 18
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- 210000002967 posterior cruciate ligament Anatomy 0.000 description 43
- 210000000988 bone and bone Anatomy 0.000 description 42
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- 238000011883 total knee arthroplasty Methods 0.000 description 31
- 238000002271 resection Methods 0.000 description 30
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- 208000017667 Chronic Disease Diseases 0.000 description 1
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- 210000000528 lesser trochanter Anatomy 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4603—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/461—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof of knees
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/14—Surgical saws
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
- A61B17/157—Cutting tibia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1764—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/38—Joints for elbows or knees
- A61F2/3859—Femoral components
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4684—Trial or dummy prostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/568—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor produced with shape and dimensions specific for an individual patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/3094—Designing or manufacturing processes
- A61F2/30942—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/38—Joints for elbows or knees
- A61F2/389—Tibial components
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2002/4632—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2002/4687—Mechanical guides for implantation instruments
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Surgery (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Dentistry (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Prostheses (AREA)
- Surgical Instruments (AREA)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201461979034P | 2014-04-14 | 2014-04-14 | |
| US201462013198P | 2014-06-17 | 2014-06-17 | |
| US201462022894P | 2014-07-10 | 2014-07-10 | |
| PCT/US2015/025822 WO2015160852A1 (en) | 2014-04-14 | 2015-04-14 | Kinematic alignment and novel femoral and tibial prosthetics |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2987433T3 true ES2987433T3 (es) | 2024-11-14 |
Family
ID=54324513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES15779900T Active ES2987433T3 (es) | 2014-04-14 | 2015-04-14 | Alineación cinemática y prótesis femoral y tibial novedosa |
Country Status (6)
| Country | Link |
|---|---|
| US (3) | US9901463B2 (cg-RX-API-DMAC7.html) |
| EP (1) | EP3131483B1 (cg-RX-API-DMAC7.html) |
| JP (2) | JP6563418B2 (cg-RX-API-DMAC7.html) |
| CA (2) | CA3077879A1 (cg-RX-API-DMAC7.html) |
| ES (1) | ES2987433T3 (cg-RX-API-DMAC7.html) |
| WO (1) | WO2015160852A1 (cg-RX-API-DMAC7.html) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3131483B1 (en) | 2014-04-14 | 2024-05-08 | TechMah Medical LLC | Kinematic alignment and novel femoral and tibial prosthetics |
| US10154239B2 (en) | 2014-12-30 | 2018-12-11 | Onpoint Medical, Inc. | Image-guided surgery with surface reconstruction and augmented reality visualization |
| US10512546B2 (en) * | 2015-01-12 | 2019-12-24 | Ao Technology Ag | Method for manufacturing an auxiliary device suitable for the manufacture of a patient customized implant |
| EP3302320B1 (en) | 2015-05-26 | 2022-11-16 | McAuliffe, Michael | Method of designing a surgical device |
| EP4640175A3 (en) * | 2015-07-13 | 2025-12-24 | Mako Surgical Corp. | Computer-implemented lower extremities leg length calculation method |
| US10121066B1 (en) * | 2017-11-16 | 2018-11-06 | Blast Motion Inc. | Method of determining joint stress from sensor data |
| US9532845B1 (en) | 2015-08-11 | 2017-01-03 | ITKR Software LLC | Methods for facilitating individualized kinematically aligned total knee replacements and devices thereof |
| US10555774B1 (en) * | 2016-07-05 | 2020-02-11 | Smith & Nephew, Inc. | Interactive anterior-posterior axis determination |
| US10588696B2 (en) * | 2016-08-03 | 2020-03-17 | Mako Surgical Corp. | Patella implant planning |
| US11253218B2 (en) * | 2017-10-16 | 2022-02-22 | Stryker European Operations Holdings Llc | Device for determining the anteversion angle |
| CN112272537B (zh) * | 2018-06-20 | 2024-09-13 | 科马医疗有限责任公司 | 用于具有惯性传感器的膝关节外科手术的方法和装置 |
| US11766300B2 (en) | 2018-09-14 | 2023-09-26 | Zimmer, Inc. | Kinematically aligned robotic total knee arthroplasty |
| WO2020056443A1 (en) | 2018-09-19 | 2020-03-26 | Mako Surgical Corp. | Method of surgery |
| US11553969B1 (en) | 2019-02-14 | 2023-01-17 | Onpoint Medical, Inc. | System for computation of object coordinates accounting for movement of a surgical site for spinal and other procedures |
| US11129720B2 (en) | 2019-03-05 | 2021-09-28 | Jonathan P. GARINO | Cruciate replacing artificial knee |
| US11278416B2 (en) | 2019-11-14 | 2022-03-22 | Howmedica Osteonics Corp. | Concentric keel TKA |
| CN111583240B (zh) * | 2020-05-09 | 2023-05-26 | 北京天智航医疗科技股份有限公司 | 一种股骨端前后轴线的确定方法、装置和计算机设备 |
| WO2022040952A1 (zh) * | 2020-08-26 | 2022-03-03 | 王志坚 | 人工膝关节置换术的运动轴定位器 |
| IT202000022741A1 (it) * | 2020-09-25 | 2022-03-25 | Medacta Int Sa | Impianto di prova tibio-femorale |
| US11999065B2 (en) | 2020-10-30 | 2024-06-04 | Mako Surgical Corp. | Robotic surgical system with motorized movement to a starting pose for a registration or calibration routine |
| US12182956B2 (en) | 2021-07-01 | 2024-12-31 | Microport Orthopedics Holdings Inc. | Systems and methods of using three-dimensional image reconstruction to aid in assessing bone or soft tissue aberrations for orthopedic surgery |
| AU2022314050A1 (en) | 2021-07-20 | 2024-02-08 | Microport Orthopedics Holdings Inc. | Systems and methods for using photogrammetry to create patient-specific guides for orthopedic surgery |
| USD1044829S1 (en) | 2021-07-29 | 2024-10-01 | Mako Surgical Corp. | Display screen or portion thereof with graphical user interface |
| CA3231121A1 (en) | 2021-09-30 | 2023-04-06 | Brian R. Harris | Systems and methods of using photogrammetry for intraoperatively aligning surgical elements |
| US12433761B1 (en) | 2022-01-20 | 2025-10-07 | Onpoint Medical, Inc. | Systems and methods for determining the shape of spinal rods and spinal interbody devices for use with augmented reality displays, navigation systems and robots in minimally invasive spine procedures |
| CN114711760B (zh) * | 2022-04-06 | 2023-01-24 | 哈尔滨工业大学 | 一种关节轴线计算方法 |
| EP4543352A1 (en) * | 2022-07-27 | 2025-04-30 | The Cleveland Clinic Foundation | System and method for extraction of joint-specific movement capacity and motion signature from imaging |
| WO2024238453A1 (en) * | 2023-05-12 | 2024-11-21 | Smith & Nephew, Inc. | Surgical planning method and characterizations for improved outcomes |
| WO2024243383A1 (en) * | 2023-05-24 | 2024-11-28 | Smith & Nephew, Inc. | Knee arthroplasty implant components |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4681589A (en) * | 1984-06-01 | 1987-07-21 | Tronzo Raymond G | Adjustable acetabular cup prosthesis as part of a total cup replacement system |
| US4944757A (en) * | 1988-11-07 | 1990-07-31 | Martinez David M | Modulator knee prosthesis system |
| US5423828A (en) * | 1992-05-14 | 1995-06-13 | Bentwood Place, Inc. | Method and apparatus for simplifying prosthetic joint replacements |
| US5318571A (en) * | 1992-05-14 | 1994-06-07 | Benson Gail M | Method and apparatus for simplifying total hip arthroplasty |
| US5507824A (en) * | 1993-02-23 | 1996-04-16 | Lennox; Dennis W. | Adjustable prosthetic socket component, for articulating anatomical joints |
| US5782925A (en) * | 1997-11-06 | 1998-07-21 | Howmedica Inc. | Knee implant rotational alignment apparatus |
| US6494913B1 (en) * | 1998-03-17 | 2002-12-17 | Acumed, Inc. | Shoulder prosthesis |
| US6063091A (en) * | 1998-10-13 | 2000-05-16 | Stryker Technologies Corporation | Methods and tools for tibial intermedullary revision surgery and associated tibial components |
| US6355045B1 (en) * | 2000-12-28 | 2002-03-12 | Depuy Orthopaedics, Inc. | Method and apparatus for surgically preparing a tibia for implantation of a prosthetic implant component which has an offset stem |
| CA2478311C (en) * | 2002-03-11 | 2010-07-20 | Spinal Concepts, Inc. | Instrumentation and procedure for implanting spinal implant devices |
| US6645215B1 (en) * | 2002-08-07 | 2003-11-11 | Howmedica Osteonics Corp. | Tibial rotation guide |
| BRPI1014917A2 (pt) * | 2009-04-16 | 2016-04-19 | Conformis Inc | "dispositivos de artroplastia de junta específica para páciente para reparo de ligamento" |
| CN102711669B (zh) * | 2009-05-29 | 2017-05-31 | 史密夫和内修有限公司 | 用于执行膝关节成形术的方法和器械 |
| US9256776B2 (en) * | 2009-11-18 | 2016-02-09 | AI Cure Technologies, Inc. | Method and apparatus for identification |
| US8986390B2 (en) | 2011-06-30 | 2015-03-24 | Depuy (Ireland) | Method of trialing a knee prosthesis |
| WO2013020026A1 (en) * | 2011-08-03 | 2013-02-07 | Conformis, Inc. | Automated design, selection, manufacturing and implantation of patient-adapted and improved articular implants, designs and related guide tools |
| CN103841924B (zh) * | 2011-08-15 | 2016-02-17 | 康复米斯公司 | 用于修正接合部关节置换植入物的修正系统、工具和方法 |
| CA3083790C (en) * | 2012-05-24 | 2023-06-27 | Zimmer, Inc. | Patient-specific instrumentation and method for articular joint repair |
| US9675471B2 (en) * | 2012-06-11 | 2017-06-13 | Conformis, Inc. | Devices, techniques and methods for assessing joint spacing, balancing soft tissues and obtaining desired kinematics for joint implant components |
| EP3131483B1 (en) | 2014-04-14 | 2024-05-08 | TechMah Medical LLC | Kinematic alignment and novel femoral and tibial prosthetics |
-
2015
- 2015-04-14 EP EP15779900.8A patent/EP3131483B1/en active Active
- 2015-04-14 WO PCT/US2015/025822 patent/WO2015160852A1/en not_active Ceased
- 2015-04-14 US US14/686,685 patent/US9901463B2/en active Active
- 2015-04-14 JP JP2016562592A patent/JP6563418B2/ja active Active
- 2015-04-14 CA CA3077879A patent/CA3077879A1/en active Pending
- 2015-04-14 ES ES15779900T patent/ES2987433T3/es active Active
- 2015-04-14 CA CA2945799A patent/CA2945799C/en active Active
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2017
- 2017-06-20 US US15/627,844 patent/US11045330B2/en active Active
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2019
- 2019-07-24 JP JP2019135869A patent/JP6862506B2/ja active Active
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2021
- 2021-04-26 US US17/240,495 patent/US20230285165A9/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| US20220183856A1 (en) | 2022-06-16 |
| US20230285165A9 (en) | 2023-09-14 |
| CA2945799C (en) | 2020-06-02 |
| CA3077879A1 (en) | 2015-10-22 |
| WO2015160852A1 (en) | 2015-10-22 |
| JP6862506B2 (ja) | 2021-04-21 |
| US20160008143A1 (en) | 2016-01-14 |
| EP3131483B1 (en) | 2024-05-08 |
| EP3131483A1 (en) | 2017-02-22 |
| JP2017511207A (ja) | 2017-04-20 |
| CA2945799A1 (en) | 2015-10-22 |
| JP2019195689A (ja) | 2019-11-14 |
| JP6563418B2 (ja) | 2019-08-21 |
| US20180055655A1 (en) | 2018-03-01 |
| US11045330B2 (en) | 2021-06-29 |
| EP3131483A4 (en) | 2017-10-25 |
| US9901463B2 (en) | 2018-02-27 |
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