JP2003053685A - 医療用マニピュレータ - Google Patents
医療用マニピュレータInfo
- Publication number
- JP2003053685A JP2003053685A JP2001243434A JP2001243434A JP2003053685A JP 2003053685 A JP2003053685 A JP 2003053685A JP 2001243434 A JP2001243434 A JP 2001243434A JP 2001243434 A JP2001243434 A JP 2001243434A JP 2003053685 A JP2003053685 A JP 2003053685A
- Authority
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- Japan
- Prior art keywords
- slave
- master
- attitude
- unit
- difference
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 10
- 230000036544 posture Effects 0.000 description 49
- 230000001133 acceleration Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000002350 laparotomy Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40407—Master slave, master is replica of slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
マニピュレータを提供する。 【解決手段】 マスタスレーブ方式で動作する一体型の
医療用マニピュレータ(1)であって、操作指令部を有
するマスタ部(2)と、作業部を有するスレーブ部
(3)と、マスタ部とスレーブ部とを一体的に接続する
連結部(4)と、マスタ部の姿勢とスレーブ部の姿勢と
の間の姿勢差を検出する姿勢差検出手段(6)と、非マ
スタスレーブ動作モードからマスタスレーブ動作モード
へ入りマスタ部の姿勢と前記スレーブ部の姿勢との間の
姿勢差が解消するまでの遷移的マスタスレーブ動作モー
ドにおいて、姿勢差検出手段で検出した姿勢差に基づ
き、姿勢差が解消されるようにスレーブ部を制御する制
御手段(7)と、を備えることを特徴とする。
Description
ータに関し、特にマスタスレーブ方式で動作する一体型
の医療用マニピュレータに関する。
術においては、患者の腹部に小さな穴をあけ、その部分
にトラカールを取り付け、トラカールを介して内視鏡や
鉗子を挿入し、術者が内視鏡の映像をモニタで見ながら
手術を行っている。このような手術方法は開腹を必要と
しないため患者への負担が少なく術後の回復や退院まで
の日数が大幅に低減される。このように腹腔鏡下手術は
患者への負担が少ないという点で優れ適用分野の拡大が
期待されるものである。しかしその反面、術者にとって
は直接患部が見られない、開閉グリッパしか設けられて
いない操作性に乏しい鉗子を使用し、必ずしも手術に適
したものとはいえず、術者の熟練した技術を要するもの
であった。
数の自由度を持つ操作部(マスタ部)を術者が操作し、
複数の自由度を持つ先端の作業部(スレーブ部)が操作
部の動きに合わせて動作するマスタスレーブ方式によっ
て腹腔鏡下手術を行うことが研究され導入されつつあ
る。マスタ部とスレーブ部とが離れたところにあり複雑
なシステムからなる遠隔操作型がある。この場合、マス
タ部とスレーブ部とが離れて位置し、事故的にスレーブ
部が暴走した場合には生命に関わるので医療用マニピュ
レータとしては安全性の上で問題があり得る。
軸を持ち簡素なシステムで導入しやすい一体型の医療用
マスタスレーブマニピュレータがある。産業ロボットの
分野においては、マスタ部とスレーブ部とを備えマスタ
スレーブ方式で動作する一体型のマニピュレータが知ら
れている。しかしながら、これらのマニピュレータはい
ずれも、非マスタスレーブ動作モードからマスタスレー
ブ動作モードへ入りマスタ部の姿勢とスレーブ部の姿勢
との間の姿勢差が解消するまでの遷移的マスタスレーブ
動作モードにおいて、マスタ部の姿勢をスレーブ部の姿
勢に合わせるようにするものであった。操作者の手元に
あるマスタ部を調整することが容易であり、また、特に
産業ロボットにおいては重厚なスレーブ部(作業部)を
マスタ部に合わせることは現実的でないからである。
よって医療用マニピュレータを動作させるにあたり、マ
スタ部とスレーブ部との姿勢関係が一致していない状態
で動作を開始すると、操作者(術者)の思い通りにスレ
ーブが動作せず操作性が悪いという欠点がある。そこ
で、マスタ部とスレーブ部との姿勢関係を一致させるた
めの方法が開示されているが、これらは、スレーブ部と
マスタ部とにそれぞれの形状を検出する検出手段とそれ
らによる検出結果を比較する手段とを備えたマニピュレ
ータにおいて、スレーブ部を停止しておき、術者がマス
タ部をスレーブ部の形状に一致させることでマスタスレ
ーブ動作を開始させるものである。すなわち、非マスタ
スレーブ動作モードからマスタスレーブ動作モードへ入
るまでの遷移的マスタスレーブ動作モードにおいて、ス
レーブ部の姿勢に合わせるようにマスタ部を制御するも
のである。
は再開する際にスレーブ部とマスタ部との形状合わせを
術者がいちいち行うのでは必ずしも操作性がよくないと
いう問題があった。特に複数の自由度を合わせなければ
ならないので、形状合わせに時間がかかるという問題が
あった。グリッパのようにマスタ側にその自由度が必ず
しも存在する必要がない動作自由度を持つ医療用マニピ
ュレータは、マスタ部の操作だけでは形状を合わせるこ
とは困難である。これらの課題は現場での不測の事態に
臨機応変に対処するという面からも適当ではない。
有する問題を解消し、非マスタスレーブ動作モードから
マスタスレーブ動作モードへ入りマスタ部の姿勢とスレ
ーブ部の姿勢との間の姿勢差が解消するまでの遷移的マ
スタスレーブ動作モードにおいて、マスタ部に合わせる
ようにスレーブ部を制御することによって、操作性のよ
い医療用マニピュレータを提供することである。
に、本発明は、マスタスレーブ方式で動作する一体型の
医療用マニピュレータであって、操作指令部を有するマ
スタ部と、作業部を有するスレーブ部と、前記マスタ部
と前記スレーブ部とを一体的に接続する連結部と、前記
マスタ部の姿勢と前記スレーブ部の姿勢との間の姿勢差
を検出する姿勢差検出手段と、非マスタスレーブ動作モ
ードからマスタスレーブ動作モードへ入り前記マスタ部
の姿勢と前記スレーブ部の姿勢との間の姿勢差が解消す
るまでの遷移的マスタスレーブ動作モードにおいて、前
記姿勢差検出手段で検出した姿勢差に基づき、前記姿勢
差が解消されるように前記スレーブ部を制御する制御手
段と、を備えることを特徴とする。
ードからマスタスレーブ動作モードへ入りマスタ部の姿
勢とスレーブ部の姿勢との間の姿勢差が解消するまでの
遷移的マスタスレーブ動作モードにおいて、姿勢差検出
手段で検出した姿勢差に基づき、姿勢差が解消されるよ
うにマスタ部に合わせるようにスレーブ部を制御するの
で、良好な操作性を得ることができる。ここで、マスタ
スレーブ方式で動作する一体型の医療用マニピュレータ
にあっては、一体型であるため、姿勢差を解消させるた
めにスレーブ部を動作させてもスレーブ部は限られた動
作空間内で動作するので暴走等の危険がない。
消するまでの制御時間範囲に渡る制御される姿勢差量と
制御時間との関係を定めた制御プログラムを備え、前記
制御手段は、前記制御プログラムを参照して、前記スレ
ーブ部を制御することを特徴とする。
される姿勢差量と制御時間との関係を定めた制御プログ
ラムを備えているので、スレーブ部の姿勢をマスタ部の
姿勢に迅速に効率的に合わせるようにすることができ
る。
出手段で検出される姿勢差の大きさに応じて作成されて
おり、前記制御手段は、前記姿勢差検出手段で検出した
姿勢差の大きさに応じて前記スレーブ部を制御すること
を特徴とする。
トルであっても姿勢差の大きさに着目することによっ
て、制御プログラムを簡易に構成することができる。
姿勢差を検出し、前記制御手段は、逐次時間的に検出さ
れる姿勢差毎に前記制御プログラムを参照して前記スレ
ーブ部を制御することを特徴とする。
出し、逐次時間的にスレーブ部を制御するので、マスタ
部またはスレーブ部を静止させておく必要がなくマスタ
部またはスレーブ部を所望の姿勢に動作させてもスレー
ブ部の姿勢をマスタ部の姿勢に合わせることができる。
勢が時間変化する場合において逐次時間的に検出される
姿勢差毎に前記制御プログラムを参照して前記スレーブ
部を制御することを特徴とする。
には解消しておらず前記スレーブ部の姿勢が時間変化す
る場合において逐次時間的に検出される姿勢差毎に前記
制御プログラムを参照して前記スレーブ部を制御するこ
とを特徴とする。
レーブの形状合わせを意図して行う必要がなく操作性が
向上するとともに、特に形状合わせが姿勢において行わ
れるような一体型マスタスレーブマニピュレータにおい
ては安全性を損なうことなくマスタスレーブ動作モード
に移行させることができる。
療用マニピュレータの実施の形態について説明する。
モードとは、例えば装置電源を入れた直後等のマスタ部
とスレーブ部との間の姿勢関係に何の拘束性もない状態
における動作モードをいい、マスタスレーブ動作モード
とは、マスタ部とスレーブ部との間に所定の姿勢関係を
有するように制御する動作モードをいい、遷移的マスタ
スレーブ動作モードとは、マスタスレーブ動作モードに
おける初期の動作モードの部分であり、非マスタスレー
ブ動作モードからマスタスレーブ動作モードに入った場
合おいて、マスタ部とスレーブ部との間に所定の姿勢関
係を形成するまでの過渡的な動作モードをいう。
発明の概略構成について説明する。マスタスレーブ方式
で動作する一体型の医療用マニピュレータ1は、術者が
操作指令するマスタ部(操作指令部)2と、その動きに
従って動作するスレーブ部(作業部)3と、マスタ部2
とスレーブ部3とを一体的に接続する連結部4と、マス
タ部2の姿勢とスレーブ部3の姿勢との間の姿勢差を検
出する姿勢差検出手段6と、姿勢差検出手段6で検出し
た姿勢差に基づき、この姿勢差が解消されるようにスレ
ーブ部3を制御する制御手段7と、姿勢差検出手段6に
よる姿勢差の検出時から制御手段7による制御によって
姿勢差が解消するまでの制御時間範囲に渡って予め作成
された姿勢差量と制御時間との関係を定めた制御プログ
ラム8とを備えている。
度を検出する角度検出器21とスレーブ部3の姿勢角度
を検出する角度検出器22と角度検出器21と角度検出
器22による検出角度から姿勢差を演算する姿勢差演算
部23から構成されている。制御手段7は、駆動手段9
と制御演算部12とから構成されている。駆動手段9
は、モータ駆動回路25とモータ26とモータ9の動力
をスレーブ部3へ伝達する動力伝達部27とから構成さ
れている。
数の自由度を持ち、先端の姿勢が変化するとともにグリ
ッパが術者の指令に従って開閉できる仕組みになってい
る。スレーブ部3の各自由度は、モータ26の動力がワ
イヤやロッドなどの動力伝達部27を介して伝わること
で動作する。各駆動軸にはエンコーダが取り付けられて
おり、スレーブ部3の姿勢を検出しその値を制御演算部
12へ送信することができる。
いる。通常、マスタ部2とスレーブ部3との自由度構成
は一致しているが、グリッパの開閉動作指令をスイッチ
で与え、必ずしもマスタ部2側にスレーブ部3と同様に
グリッパがあるとは限らない。マスタ部2の各自由度に
はポテンショメータが取り付けられており、図2のよう
に動作させた量を検出し姿勢差演算部23で姿勢差を求
める。
的なベクトル量であるが、このベクトル量の大きさに応
じて予め制御プログラム8が作成されている。姿勢差演
算部23の動作判定部14では、姿勢差演算部23で求
めた姿勢差の大きさに対応する制御プログラム8を参照
し、スレーブ部3への制御目標値を求める。
演算部23で求めた制御目標値とからスレーブ部3への
指令値を算出し、モータ駆動回路25へ出力する。マス
タスレーブ動作時はマスタ部2の姿勢角度がそのままス
レーブ部2の制御目標値である。
きを述べる。医療用マニピュレータ1に電源を入れると
初期化の手続きが行われる。スレーブ部3は取り付けら
れた検出器によって、その位置・姿勢を認識し、必要に
応じて所定の初期位置へ移動し、停止する。マスタ部2
もまた、取り付けられた検出器によってその位置・姿勢
を検出する。ここで通常、マスタ部2とスレーブ部3と
の姿勢関係が異なっていることが多い。ここで前述した
理由で、この両者間の位置・姿勢あわせが必要となる。
い旨を、制御コントローラへ入力する。入力の具体的な
方法は、キーボード入力、タッチパネル入力、マスタ部
2や手元や足元にあるスイッチによる入力、またはトラ
カール5に備えられ医療用マニピュレータ1が挿入され
たことを認識する検出器による入力とがある。これによ
って、医療用マニピュレータ1は非マスタスレーブ動作
モードからマスタスレーブ動作モードへ入る。
と、医療用マニピュレータ1は、遷移的マスタスレーブ
動作モードに入り、マスタ部2とスレーブ部3の両者の
角度差(姿勢差)をそれぞれの軸に対して算出する。こ
の角度差と予め決められた制御プログラム8を参照して
パラメータを比較し、スレーブ部3とマスタ部2との姿
勢関係の間に所望の姿勢関係(同一の姿勢)を確立する
ために必要なマスタスレーブ動作へ移行するための動作
を決定する。
いては、マスタ部2とスレーブ部3とが一体的に接続さ
れているという理由から位置合わせの必要がない。合わ
せる必要があるのは姿勢のみであり、その動作範囲は予
想し得る限られた範囲であるため、これらの自由度が自
動で動作しても安全性が損なわれることはない。またマ
スタ部2とスレーブ部3が離れていても、位置に関して
は、マスタスレーブ動作開始後は、スレーブ目標値を初
期状態における値からの偏差と定義すれば同様である。
レーブ部3の角度θslaveから、両者の角度差Δθを式
(1)より求める。
し、各姿勢軸について行ってもよい。また複数の軸に対
し、個々に制御を行ってもよいし、複数の軸を組み合わ
せて行っても良い。
動作(MS動作)への移行制御について述べる。現在の
マスタ部2とスレーブ部3との角度差の大きさと、マス
タ部2とスレーブ部3とが一致しているか限りなく近い
値であることを判定するためのパラメータ値θαとを比
較する。
ーブ動作に移行する。式(2)を満たさない場合、角度
差を判定する2番目のパラメータ値θβ(ただしθβ〉
θα)と比較する。この値はマスタ部2とスレーブ部3
の両者が近づいているかどうかの判断に用いられる。次
式(3)を満たす場合、スレーブ部3は減速してマスタ
部2と姿勢を合わせる。動作方向は角度差が減少する方
向で、角度差Δθの符号より求めることができる。
との角度差は大きいと判断される。このときスレーブ部
3は加速軌道を時々刻々生成しながら、マスタ部2と姿
勢を合わせるべく動作する。マスタスレーブ動作開始を
意図する信号が入力されてからの時間パラメータτγと
現在の時間τを比較し、スレーブ部3の加速度を決定す
る。
は式(3)を満たさない限り、決められた速度まで加速
する。
は式(3)を満たさない限り、等速動作しマスタの姿勢
に一致するように動作する。なお加速運動を必要としな
いときはパラメータτγを零にすればよい。このパラメ
ータτγと比較さあれる時間τは、姿勢合わせ制御がい
った減速動作に入ったならば零にされる。
レーブ部3がマスタ部2の姿勢へ自動で一致することが
できる。このマスタスレーブ姿勢合わせ制御方法は、一
時中断されたマスタスレーブ動作を再開するときにも同
様に適用できる。
的に判定を繰り返すので、スレーブ部3がマスタ部2の
姿勢へ一致するまでの間にマスタ部2の姿勢を動かして
も構わない。すなわち、前述の移行制御方法を適用すれ
ば、図5のようにスレーブ部3は目標値を生成する。こ
のことは術者10にとって、スレーブ部3とマスタ部2
の姿勢合わせという作業を行わなくて良いばかりか、姿
勢合わせが終了するまでマスタ部2が動かないように止
めておくという作業が入ることもなく、操作性の良いマ
ニピュレータとなる。また、術者10がマスタ部2の動
作範囲内でスレーブ部3との角度差を広げる方向へ動か
してもスレーブ部3は両者の角度差が広がったことを認
識し、パラメータとの比較結果に応じてマスタ部2と姿
勢を一致させるように動作する。
スタ部2の姿勢と一致する動作の速度に違いを持たせる
ことによって、姿勢合わせ動作中、次のような能力を備
えることができる。姿勢合わせを早く終わらせようと考
えたら、術者10は自らが操作するマスタ部2をスレー
ブ部3の現姿勢へ動作させればよい。姿勢合わせ中にス
レーブ部3が減速し始めたがまだ両者の姿勢が一致せず
マスタスレーブ動作に移行できていなくとも、現在の動
作方向へさらに動かしたいと考えたら、図6のようにマ
スタ部2をスレーブ部3から逃げる方向すなわち角度差
を広げる方向へ動作させることで、スレーブ部3を再加
速させればよい。
不測の事態に臨機応変に対応できる能力を備えた医療用
マニピュレータを提供することが可能となる。
部3との角度差と動作時間を用いたが、これに付け加
え、またはこれに替わって、マスタ部2の速度θmaster
や加速度αmaster、さらには両者の角度差の速度Δθや
加速度Δαを用いてスレーブ部3の目標値を生成し、よ
り細かな移行動作をスレーブ部3に要求することが可能
である。速度、加速度を用いることで、マスタスレーブ
移行動作中でもマスタ部2とスレーブ部3との間に仮想
のバネ、ダンパを与え、それらに対応したパラメータを
調整することで術者の意図がより反映しやすくなる。
によれば、非マスタスレーブ動作モードからマスタスレ
ーブ動作モードへ入りマスタ部2の姿勢とスレーブ部3
の姿勢との間の姿勢差が解消するまでの遷移的マスタス
レーブ動作モードにおいて、姿勢差検出手段6で検出し
た姿勢差に基づき、姿勢差が解消されるようにマスタ部
2に合わせるようにスレーブ部3を制御するので、良好
な操作性を得ることができ、マスタ部2とスレーブ部3
とを自動的に姿勢合わせを行い、術者10の負担が軽減
され操作性に優れた医療用マニピュレータを提供するこ
とができる。また、マスタスレーブ姿勢合わせ中でも術
者の意図を反映させることができ、操作性がよくかつ安
全な医療用マスタスレーブマニピュレータを提供するこ
とができる。
れば、操作性に優れた医療用マニピュレータを提供する
ことができる。
とスレーブ部と連結部を示す斜視図。
判定の流れを示す図。
御時間範囲に渡る制御される姿勢差量と制御時間との関
係を定めた制御プログラムの例を示す図。
動作中にマスタ部が動いた場合の制御例を示す図。
スタ部をスレーブ部から逃げる方向すなわち角度差を広
げる方向へ動作させることで、スレーブ部を再加速させ
る例を示す図。
ク図である。
Claims (6)
- 【請求項1】マスタスレーブ方式で動作する一体型の医
療用マニピュレータであって、 操作指令部を有するマスタ部と、 作業部を有するスレーブ部と、 前記マスタ部と前記スレーブ部とを一体的に接続する連
結部と、 前記マスタ部の姿勢と前記スレーブ部の姿勢との間の姿
勢差を検出する姿勢差検出手段と、 非マスタスレーブ動作モードからマスタスレーブ動作モ
ードへ入り前記マスタ部の姿勢と前記スレーブ部の姿勢
との間の姿勢差が解消するまでの遷移的マスタスレーブ
動作モードにおいて、前記姿勢差検出手段で検出した姿
勢差に基づき、前記姿勢差が解消されるように前記スレ
ーブ部を制御する制御手段と、を備えることを特徴とす
る医療用マニピュレータ。 - 【請求項2】姿勢差の検出時から前記姿勢差が解消する
までの制御時間範囲に渡る制御される姿勢差量と制御時
間との関係を定めた制御プログラムを備え、 前記制御手段は、前記制御プログラムを参照して、前記
スレーブ部を制御することを特徴とする請求項1に記載
の医療用マニピュレータ。 - 【請求項3】前記制御プログラムは前記姿勢差検出手段
で検出される姿勢差の大きさに応じて作成されており、 前記制御手段は、前記姿勢差検出手段で検出した姿勢差
の大きさに応じて前記スレーブ部を制御することを特徴
とする請求項2に記載の医療用マニピュレータ。 - 【請求項4】前記姿勢差検出手段は逐次時間的に姿勢差
を検出し、 前記制御手段は、逐次時間的に検出される姿勢差毎に前
記制御プログラムを参照して前記スレーブ部を制御する
ことを特徴とする請求項2に記載の医療用マニピュレー
タ。 - 【請求項5】前記制御手段は、前記マスタ部の姿勢が時
間変化する場合において逐次時間的に検出される姿勢差
毎に前記制御プログラムを参照して前記スレーブ部を制
御することを特徴とする請求項4に記載の医療用マニピ
ュレータ。 - 【請求項6】前記制御手段は、前記姿勢差が完全には解
消しておらず前記スレーブ部の姿勢が時間変化する場合
において逐次時間的に検出される姿勢差毎に前記制御プ
ログラムを参照して前記スレーブ部を制御することを特
徴とする請求項4又は5に記載の医療用マニピュレー
タ。
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JP2001243434A JP3926119B2 (ja) | 2001-08-10 | 2001-08-10 | 医療用マニピュレータ |
US10/214,554 US6853879B2 (en) | 2001-08-10 | 2002-08-09 | Medical manipulator and method of controlling the same |
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Application Number | Priority Date | Filing Date | Title |
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JP2001243434A JP3926119B2 (ja) | 2001-08-10 | 2001-08-10 | 医療用マニピュレータ |
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JP2003053685A true JP2003053685A (ja) | 2003-02-26 |
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US20030033024A1 (en) | 2003-02-13 |
JP3926119B2 (ja) | 2007-06-06 |
US6853879B2 (en) | 2005-02-08 |
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