JP2009022760A - バイプレーンx線装置 - Google Patents
バイプレーンx線装置 Download PDFInfo
- Publication number
- JP2009022760A JP2009022760A JP2008186065A JP2008186065A JP2009022760A JP 2009022760 A JP2009022760 A JP 2009022760A JP 2008186065 A JP2008186065 A JP 2008186065A JP 2008186065 A JP2008186065 A JP 2008186065A JP 2009022760 A JP2009022760 A JP 2009022760A
- Authority
- JP
- Japan
- Prior art keywords
- ray
- robot
- biplane
- arm
- radiation source
- 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
- 230000005855 radiation Effects 0.000 claims abstract description 33
- 238000003384 imaging method Methods 0.000 claims description 48
- 239000000725 suspension Substances 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/40—Arrangements for generating radiation specially adapted for radiation diagnosis
- A61B6/4007—Arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units
- A61B6/4014—Arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units arranged in multiple source-detector units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
【解決手段】バイプレーンX線装置において、X線放射源(20)およびX線検出器(22)からなる少なくとも一対の移動のためにロボット(16)が使用される。ロボットがX線Cアームを支持す多関節アームロボット(16)であるとよい。X線放射源(40)およびX線検出器(42)がそれぞれロボットアーム(36,38)により室内天井(34)に吊下げられていてもよい。
【選択図】図2
Description
図1は本発明の第1の実施形態によるバイプレーンX線装置を示し、
図2は本発明の第2の実施形態によるバイプレーンX線装置を示し、
図3は本発明の第3の実施形態によるバイプレーンX線装置を示し、
図4は本発明の他の実施形態についてのX線画像撮影装置を示す。
10’ バイプレーンX線装置
10” バイプレーンX線装置
12 第1のX線画像撮影装置
12’ 第2のX線画像撮影装置
14 第2のX線画像撮影装置
16 6軸折畳みロボット
16’ 6軸折畳みロボット
18 Cアーム
18’ Cアーム
20 X線放射源
20’ X線放射源
22 X線検出器
22’ X線検出器
23 レール
23’ レール
23" レール
24 移動台
26 X線Cアーム
28 X線放射源
30 X線検出器
32 患者用テーブル
34 室内天井
36 ロボットアーム
38 ロボットアーム
40 X線管
42 X線検出器
44 矢印
46 矢印
47 関節
48 関節
50 矢印
52 矢印
54 台板
56 矢印
58 矢印
60 矢印
62 矢印
64 矢印
66 矢印
68 矢印
Claims (14)
- X線放射源(20)、X線検出器(22)、X線放射源(20)およびX線検出器(22)の移動手段(16)を含む第1のX線画像撮影装置(12)と、X線放射源(20’,28)、X線検出器(22’,30)、X線放射源(20’,28)およびX線検出器(22’,30)の移動手段(16’,26)を含む第2のX線画像撮影装置(12’,14)とを備え、
少なくとも1つのX線画像撮影装置(12,12’ ,14)の移動手段が少なくとも1つのロボット(16,16',36,38)を含むバイプレーンX線装置。 - 各ロボット(16,16’)が多関節アームロボットである請求項1記載のバイプレーンX線装置。
- 第1のX線画像撮影装置(12)の移動手段が床据付式のロボット(16)を含み、第2のX線画像撮影装置の移動手段が天井吊下げ式のX線Cアーム支持台(24)を含む請求項1又は2記載のバイプレーンX線装置。
- 第1のX線画像撮影装置(12)の移動手段および第2のX線画像撮影装置(12’)の移動手段が床据付式または天井吊下げ式のロボット(16,16’)を含む請求項1又は2記載のバイプレーンX線装置。
- 第1のX線画像撮影装置(12)の移動手段が床据付式のロボット(16)を含み、第2のX線画像撮影装置(12’)の移動手段が少なくとも1つの天井吊下げ式のロボット(16’)を含む請求項1記載のバイプレーンX線装置。
- 天井(34)に吊下げられたロボット(16’)が多関節アームロボットである請求項5記載のバイプレーンX線装置。
- 第2のX線画像撮影装置の移動手段が、X線放射源(40)が固定されている第1のロボットアーム(36)と、X線検出器(42)が固定されている第2のロボットアーム(38)とを含む請求項5記載のバイプレーンX線装置。
- ロボットアーム(36,38)が天井(34)の方向へのX線放射源(40)およびX線検出器(42)の引上げを可能にする請求項7記載のバイプレーンX線装置。
- ロボットアーム(36,38)が互いに相対的に移動可能である請求項7又は8の記載のバイプレーンX線装置。
- ロボットアーム(36,38)が、回転可能および/または傾斜可能である台板(54)に吊り下げられている請求項7乃至9の1つに記載のバイプレーンX線装置。
- X線放射源(40)および/またはX線検出器(42)がそれぞれのロボットアーム(36,38)において傾斜可能である請求項7乃至10の1つに記載のバイプレーンX線装置。
- 両ロボット(16,16’)にそれぞれX線Cアーム(18,18’)が取外し可能に固定されている請求項4又は5記載のバイプレーンX線装置。
- 両ロボット(16,16’)のX線Cアーム(18,18’)がそれぞれ取り外され、一方のロボットにX線放射源が固定され、他方のロボットにX線検出器が固定され、ロボットが協調のとれた動きをする請求項12記載のバイプレーンX線装置。
- 両ロボット(16,16’)のうちの一方からX線Cアーム(18,18’)が取り外され、このロボットに患者用テーブルユニットが固定され、ロボットが協調のとれた動きをする請求項12記載のバイプレーンX線装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007033716A DE102007033716B4 (de) | 2007-07-19 | 2007-07-19 | Röntgenbiplananlage |
DE102007033716.9 | 2007-07-19 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2009022760A true JP2009022760A (ja) | 2009-02-05 |
JP2009022760A5 JP2009022760A5 (ja) | 2011-06-23 |
JP5383108B2 JP5383108B2 (ja) | 2014-01-08 |
Family
ID=40148997
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008186065A Expired - Fee Related JP5383108B2 (ja) | 2007-07-19 | 2008-07-17 | バイプレーンx線装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7594751B2 (ja) |
JP (1) | JP5383108B2 (ja) |
CN (1) | CN101351074B (ja) |
DE (1) | DE102007033716B4 (ja) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008016414B4 (de) * | 2008-03-31 | 2018-01-04 | Kuka Roboter Gmbh | Röntgenvorrichtung und medizinischer Arbeitsplatz |
US8525833B2 (en) | 2008-10-13 | 2013-09-03 | George Papaioannou | Dynamic biplane roentgen stereophotogrammetric analysis |
DE102009018283B4 (de) * | 2009-04-21 | 2014-11-06 | Siemens Aktiengesellschaft | Röntgensystem |
DE102009037478B4 (de) * | 2009-08-13 | 2017-02-02 | Siemens Healthcare Gmbh | Verfahren zur 3-D-Datenerfassung mit einem Biplan-C-Bogen-System mit Biplan-Akquisitions-Multiplexing |
CN101991427B (zh) * | 2009-08-19 | 2013-02-13 | 株式会社东芝 | 医用图像处理装置和医用图像处理方法 |
US20170259085A1 (en) * | 2010-04-16 | 2017-09-14 | James P. Bennett | Integrated imaging-cancer treatment apparatus and method of use thereof |
DE102010019989B4 (de) * | 2010-05-10 | 2016-03-03 | Siemens Aktiengesellschaft | Vorrichtung mit zwei Paaren aus Röntgenstrahlungsquelle und Röntgenstrahlendetektor |
DE102010020604B4 (de) | 2010-05-14 | 2018-11-08 | Siemens Healthcare Gmbh | Bildaufnahmevorrichtung, umfassend eine ringförmige Gantry |
DE102010020603A1 (de) * | 2010-05-14 | 2011-11-17 | Siemens Aktiengesellschaft | Bildaufnahmevorrichtung, umfassend eine ringförmige Gantry |
DE102010023345B4 (de) | 2010-06-10 | 2020-10-29 | Siemens Healthcare Gmbh | Medizinisches Biplan-Röntgensystem und Verfahren zur Ansteuerung des Biplan-Röntgensystems |
KR20120006698A (ko) * | 2010-07-13 | 2012-01-19 | 삼성전자주식회사 | 방사선 촬영장치 및 그 제어방법 |
DE102010061949A1 (de) * | 2010-11-25 | 2012-05-31 | Siemens Aktiengesellschaft | Verfahren und Anordnung zur Überwachung von motorisch bewegbaren Anlageteilen |
FR2972915B1 (fr) | 2011-03-24 | 2013-04-19 | Gen Electric | Systeme d'imagerie medicale multiplan |
DE102011086090A1 (de) * | 2011-11-10 | 2013-05-16 | Siemens Aktiengesellschaft | C-Bogensystem |
DE102012204996A1 (de) | 2012-03-28 | 2013-10-02 | Siemens Aktiengesellschaft | Röntgenbiplananlage |
CN104936522B (zh) * | 2013-01-17 | 2020-06-16 | 皇家飞利浦有限公司 | 天花板悬架系统 |
KR102121721B1 (ko) * | 2013-03-04 | 2020-06-26 | 삼성전자주식회사 | 이동형 엑스선 영상 장치 및 그 제어 방법 |
US8992082B2 (en) | 2013-07-30 | 2015-03-31 | Jun Zhang | G-arm X-ray imaging apparatus |
US10500420B2 (en) | 2013-09-23 | 2019-12-10 | John K. Grady | Small beam area, mid-voltage radiotherapy system with reduced skin dose, reduced scatter around the treatment volume, and improved overall accuracy |
US10188878B2 (en) * | 2013-09-23 | 2019-01-29 | John K. Grady | Small beam area, mid-voltage radiotherapy system with reduced skin dose, reduced scatter around the treatment volume, and improved overall accuracy |
US9247920B2 (en) | 2014-02-27 | 2016-02-02 | General Electric Company | System and method for performing bi-plane tomographic acquisitions |
KR101403787B1 (ko) * | 2014-04-07 | 2014-06-03 | 재단법인대구경북과학기술원 | 의료용 로봇 |
KR101485292B1 (ko) * | 2014-04-07 | 2015-01-28 | 재단법인대구경북과학기술원 | 로봇 |
CN105078502A (zh) * | 2014-04-16 | 2015-11-25 | 上海联影医疗科技有限公司 | 检查床 |
DE102014114321B4 (de) * | 2014-05-14 | 2021-09-09 | Roesys MedTec GmbH | Röntgenanwendungsvorrichtung |
CN105011957A (zh) * | 2015-06-08 | 2015-11-04 | 瑞地玛医学科技有限公司 | X射线影像设备、靶区成像系统及靶区成像方法 |
CN105004739A (zh) * | 2015-06-24 | 2015-10-28 | 云南电网有限责任公司电力科学研究院 | 一种x射线检测部位自动识别系统 |
US10987070B2 (en) | 2015-08-07 | 2021-04-27 | Shanghai United Imaging Healthcare Co., Ltd. | Supporting device in medical diagnostics system |
CN105078504B (zh) * | 2015-09-11 | 2019-07-19 | 上海联影医疗科技有限公司 | 检查床 |
DE102015222589A1 (de) * | 2015-11-16 | 2017-05-18 | Friedrich-Alexander-Universität Erlangen-Nürnberg | Erzeugen eines Volumenbildes eines langgestreckten Untersuchungsobjektes |
CN206228357U (zh) * | 2016-06-03 | 2017-06-09 | 北京东软医疗设备有限公司 | 一种悬吊机架 |
CN107518907A (zh) * | 2016-06-22 | 2017-12-29 | 沈阳东软医疗系统有限公司 | 一种医疗影像装置及其机架 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5923721A (en) * | 1996-08-19 | 1999-07-13 | Siemens Aktiengesellschaft | Bi-plane x-ray diagnostic apparatus |
JP2000166906A (ja) * | 1998-11-30 | 2000-06-20 | Siemens Ag | X線撮影装置 |
JP2001218757A (ja) * | 1999-12-07 | 2001-08-14 | Koninkl Philips Electronics Nv | ロボットアームが設けられたx線装置 |
JP2002035006A (ja) * | 2000-07-27 | 2002-02-05 | Olympus Optical Co Ltd | 医療装置配置制御システム |
US20030091152A1 (en) * | 2001-11-15 | 2003-05-15 | Ge Medical Systems Global Technology | X-ray positioner with lead shield protection device |
JP2005245814A (ja) * | 2004-03-05 | 2005-09-15 | Toshiba Corp | X線診断装置 |
JP2006255416A (ja) * | 2005-03-18 | 2006-09-28 | Siemens Ag | X線装置 |
US20070003014A1 (en) * | 2005-06-30 | 2007-01-04 | Siemens Aktiengesellschaft | Method or x-ray device for creating a series of recordings of medical x-ray images of a patient who might possibly be moving during the recording of the series images |
JP2007021201A (ja) * | 2005-07-11 | 2007-02-01 | Siemens Ag | X線撮影装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3218301A1 (de) * | 1982-05-14 | 1983-11-17 | Siemens AG, 1000 Berlin und 8000 München | Roentgendiagnostikeinrichtung mit einer nachlaufsteuervorrichtung fuer die verstellung der roentgenroehre und des strahlungsempfaengers |
JPH01185246A (ja) * | 1988-01-19 | 1989-07-24 | Toshiba Corp | X線撮影装置 |
US5515416A (en) * | 1995-05-30 | 1996-05-07 | Siczek; Bernard W. | Bi-plane imaging device |
US6104780A (en) * | 1997-11-24 | 2000-08-15 | Oec Medical Systems, Inc. | Mobile bi-planar fluoroscopic imaging apparatus |
DE10241184B4 (de) * | 2002-09-05 | 2008-04-30 | Siemens Ag | Verfahren für eine Biplan-Röntgeneinrichtung zur Erzeugung eines Volumendatensatzes |
DE102004062473B4 (de) * | 2004-09-30 | 2006-11-30 | Siemens Ag | Medizinische Strahlentherapieanordnung |
DE102006028326A1 (de) * | 2006-06-20 | 2008-01-03 | Siemens Ag | Verfahren zur zeitlich optimierten Röntgenbildgebung mit einem Bi-Plan Röntgengerät sowie Bi-Plan Röntgengerät zur Durchführung des Verfahrens |
DE102006049865B4 (de) * | 2006-10-23 | 2013-03-14 | Siemens Aktiengesellschaft | Auswertungsverfahren für Daten eines Untersuchungsobjekts unter Korrelierung eines Volumendatensatzes mit einer Anzahl von Durchleuchtungsbildern |
DE102006061178A1 (de) | 2006-12-22 | 2008-06-26 | Siemens Ag | System zur Durchführung und Überwachung minimal-invasiver Eingriffe |
-
2007
- 2007-07-19 DE DE102007033716A patent/DE102007033716B4/de not_active Expired - Fee Related
-
2008
- 2008-07-15 US US12/218,359 patent/US7594751B2/en not_active Expired - Fee Related
- 2008-07-17 JP JP2008186065A patent/JP5383108B2/ja not_active Expired - Fee Related
- 2008-07-21 CN CN2008101281793A patent/CN101351074B/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5923721A (en) * | 1996-08-19 | 1999-07-13 | Siemens Aktiengesellschaft | Bi-plane x-ray diagnostic apparatus |
JP2000166906A (ja) * | 1998-11-30 | 2000-06-20 | Siemens Ag | X線撮影装置 |
JP2001218757A (ja) * | 1999-12-07 | 2001-08-14 | Koninkl Philips Electronics Nv | ロボットアームが設けられたx線装置 |
JP2002035006A (ja) * | 2000-07-27 | 2002-02-05 | Olympus Optical Co Ltd | 医療装置配置制御システム |
US20030091152A1 (en) * | 2001-11-15 | 2003-05-15 | Ge Medical Systems Global Technology | X-ray positioner with lead shield protection device |
JP2005245814A (ja) * | 2004-03-05 | 2005-09-15 | Toshiba Corp | X線診断装置 |
JP2006255416A (ja) * | 2005-03-18 | 2006-09-28 | Siemens Ag | X線装置 |
US20070003014A1 (en) * | 2005-06-30 | 2007-01-04 | Siemens Aktiengesellschaft | Method or x-ray device for creating a series of recordings of medical x-ray images of a patient who might possibly be moving during the recording of the series images |
JP2007021201A (ja) * | 2005-07-11 | 2007-02-01 | Siemens Ag | X線撮影装置 |
Also Published As
Publication number | Publication date |
---|---|
JP5383108B2 (ja) | 2014-01-08 |
CN101351074A (zh) | 2009-01-21 |
CN101351074B (zh) | 2013-05-15 |
DE102007033716A1 (de) | 2009-01-22 |
US7594751B2 (en) | 2009-09-29 |
DE102007033716B4 (de) | 2012-03-01 |
US20090028290A1 (en) | 2009-01-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5383108B2 (ja) | バイプレーンx線装置 | |
US6742929B2 (en) | Universal X-ray device having a pivotally mounted radiator and a displaceably mounted detector | |
EP1727466B1 (en) | Arrangement comprising an X-ray tube secured to a ceiling mount | |
US7607832B2 (en) | Apparatus for medical imaging | |
US20220362083A1 (en) | Linkage mechanisms for mounting robotic arms to a surgical table | |
US6200024B1 (en) | Virtual C-arm robotic positioning system for use in radiographic imaging equipment | |
KR101828627B1 (ko) | 의료용 x레이 이미징 장치 | |
EP3610795B1 (en) | Mobile x-ray imaging system | |
JP7159467B2 (ja) | X線撮像構成部 | |
JP2018158009A (ja) | 患者載置用テーブルの移動方法 | |
US8534916B2 (en) | Apparatus with two pairs comprising X-ray source and X-ray detector | |
US9980688B2 (en) | Ceiling suspension system | |
CN106618624B (zh) | 一种医疗影像装置及其悬吊机架 | |
JP4419630B2 (ja) | X線管保持装置 | |
JP2003052676A (ja) | 移動型x線装置 | |
CN209695156U (zh) | 一种腔镜支架 | |
JP2006167172A (ja) | X線診断装置 | |
US20170340298A1 (en) | Mobile biplane fluoroscopy apparatus with folding arm configurations | |
JP6134868B2 (ja) | 医療ロボット及び/又はカテーテル制御システム | |
JP2014023690A (ja) | X線撮影制御装置およびx線撮影制御方法 | |
JP2000254114A (ja) | X線診断装置 | |
WO2015106366A1 (zh) | X光实时成像装置 | |
JP2015009012A (ja) | X線画像撮影装置及びx線画像撮影システム | |
JP2001340322A (ja) | X線透視撮影台 | |
JP2005185764A (ja) | 天井懸垂式x線管保持装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110509 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20110509 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20110509 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20121220 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130122 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130418 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130514 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130806 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130903 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20131001 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5383108 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |