JP2019503232A - 細長い多層シャフトを含むモジュール電池式手持ち型外科用器具 - Google Patents
細長い多層シャフトを含むモジュール電池式手持ち型外科用器具 Download PDFInfo
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- JP2019503232A JP2019503232A JP2018536798A JP2018536798A JP2019503232A JP 2019503232 A JP2019503232 A JP 2019503232A JP 2018536798 A JP2018536798 A JP 2018536798A JP 2018536798 A JP2018536798 A JP 2018536798A JP 2019503232 A JP2019503232 A JP 2019503232A
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- ultrasonic
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Abstract
Description
本願は、2016年1月15日出願の米国仮出願第62/279,635号及び2016年5月2日出願の米国仮出願第62/330,669号の利益を主張するものであり、これらの仮出願の各々の内容は、参照によりそれら全体が本明細書に組み込まれる。
1.ハンドルを備えるハンドルアセンブリと、ハンドルアセンブリに連結されたシャフトアセンブリと、可撓性回路と、を備えた外科用器具を含むシステムであって、ハンドルアセンブリは可撓性回路の近位部分を含み、シャフトアセンブリは可撓性回路の遠位部分を含み、シャフトアセンブリは、可撓性回路の遠位部分の周囲に位置決めされており、かつ可撓性回路の遠位部分の少なくとも副部分が静止したままである間に位置を変えるように構成されている外部シャフトと、固定部分及び非固定部分を含むシャフト制御エレクトロニクスであって、固定部分は可撓性回路の遠位部分に連結されており、非固定部分は外部シャフトに連結されている、シャフト制御エレクトロニクスと、を更に備え、シャフト制御エレクトロニクスの固定部分は、外部シャフトが位置を変えると、シャフト制御エレクトロニクスの非固定部分への距離を測定するように構成されている、システム。
2.可撓性回路に連結されており、かつ固定部分と非固定部分との間の距離の変化に基づいて、シャフト制御エレクトロニクスの非固定部分の位置の3次元変化を算出することにより、外部シャフトの位置の3次元変化を決定するように構成されている、プロセッサを更に含む、項目1のシステム。
3.ハンドルアセンブリが、可撓性回路の近位部分を含む第1のモジュールと、ハンドルを含む第2のモジュールと、を備え、第1のモジュールが、第2のモジュールから連結が解かれるように構成されている、項目1又は2のシステム。
4.第1のモジュールが、可撓性回路の近位部分に通信可能に連結されている第1の組の接点を含み、第2のモジュールが、ハンドルに通信可能に連結されている第2の組の接点を含む、項目3のシステム。
5.第1の組の接点は、第1のモジュールが第2のモジュールに連結されている間に第2の組の接点に固定可能に連動するように構成されている、項目4のシステム。
6.ハンドルが、第1の組及び第2の組の接点を介して、可撓性回路に電子信号を伝送するように構成されている、項目5のシステム。
7.シャフトアセンブリが、関節接合継手、シャフトアセンブリの第1の構成要素及び第2の構成要素を備え、第1及び第2の構成要素が、関節接合継手の周囲に連結されており、シャフトの第2の構成要素が、関節接合継手を中心に関節接合するように構成されており、可撓性回路が、関節接合継手内で関節接合するように構成されており、シャフト制御エレクトロニクスの非固定部分が、シャフトの第2の構成要素に固定して連結されており、シャフト制御エレクトロニクスの固定構成要素は、シャフトアセンブリの第2の構成要素が関節接合継手を中心に関節接合すると、非固定構成要素から離れた距離の変化を測定するように構成されている、項目1〜6のいずれか1つのシステム。
8.外部シャフトが、可撓性回路を中心に回転するように構成されており、シャフト制御エレクトロニクスの固定構成要素は、外部シャフトが可撓性回路を中心に回転すると、非固定構成要素から離れた距離の変化を測定するように構成されている、項目1〜7のいずれか1つのシステム。
9.外科用器具が、シャフトアセンブリの遠位端に連結されたエンドエフェクタを更に備え、エンドエフェクタが一対の外科用ジョーを備え、シャフトアセンブリが、一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、一対の外科用ジョーに連結された、クランプアームドライバを備え、シャフト制御エレクトロニクスの非固定構成要素が、クランプアームドライバに固定して連結されており、シャフト制御エレクトロニクスの固定構成要素は、クランプアームドライバが並進すると、非固定構成要素から離れた距離の変化を測定するように構成されている、項目1〜8のいずれか1つのシステム。
10.プロセッサは、シャフト制御エレクトロニクスの固定構成要素によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、外科用器具のエラー条件を決定するように更に構成されている、項目2のシステム。
11.外科用器具が、ハンドルアセンブリに通信可能に連結されおり、かつシャフトアセンブリの少なくとも一部を回転させるように構成されている回転ドライバを更に備えた、項目1〜10のいずれか1つに記載のシステム。
12.項目1〜11のいずれか1つに記載の外科用器具。
13.項目1〜11のいずれか1つにより、プロセッサにより実行されると、プロセッサに操作を行わせる命令を含む非一過性の信号を有するコンピュータに読み出し可能な媒体。
(1) ハンドルを備えるハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトアセンブリと、
可撓性回路と、を備えた外科用器具を含むシステムであって、前記ハンドルアセンブリは前記可撓性回路の近位部分を含み、前記シャフトアセンブリは前記可撓性回路の遠位部分を含み、
前記シャフトアセンブリは、
前記可撓性回路の前記遠位部分の周囲に位置決めされており、かつ前記可撓性回路の前記遠位部分の少なくとも副部分が静止したままである間に位置を変えるように構成されている外部シャフトと、
固定部分及び非固定部分を含むシャフト制御エレクトロニクスであって、前記固定部分は前記可撓性回路の前記遠位部分に連結されており、前記非固定部分は前記外部シャフトに連結されている、シャフト制御エレクトロニクスと、を更に備え、
前記シャフト制御エレクトロニクスの前記固定部分は、前記外部シャフトが位置を変えると、前記シャフト制御エレクトロニクスの前記非固定部分への距離を測定するように構成されている、
システム。
(2) 前記可撓性回路に連結されており、かつ前記固定部分と前記非固定部分との間の距離の変化に基づいて、前記シャフト制御エレクトロニクスの前記非固定部分の位置の3次元変化を算出することにより、前記外部シャフトの位置の3次元変化を決定するように構成されている、プロセッサを更に含む、実施態様1に記載のシステム。
(3) 前記ハンドルアセンブリが、
前記可撓性回路の前記近位部分を含む第1のモジュールと、
前記ハンドルを含む第2のモジュールと、
を備え、
前記第1のモジュールが、前記第2のモジュールから連結が解かれるように構成されている、
実施態様1に記載のシステム。
(4) 前記第1のモジュールが、前記可撓性回路の前記近位部分に通信可能に連結されている第1の組の接点を含み、前記第2のモジュールが、前記ハンドルに通信可能に連結されている第2の組の接点を含む、実施態様3に記載のシステム。
(5) 前記第1の組の接点は、前記第1のモジュールが前記第2のモジュールに連結されている間に前記第2の組の接点に固定可能に連動するように構成されている、実施態様4に記載のシステム。
(7) 前記シャフトアセンブリが、関節接合継手、前記シャフトアセンブリの第1の構成要素及び第2の構成要素を備え、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記可撓性回路が、前記関節接合継手内で関節接合するように構成されており、
前記シャフト制御エレクトロニクスの前記非固定部分が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記シャフトアセンブリの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様1に記載のシステム。
(8) 前記外部シャフトが、前記可撓性回路を中心に回転するように構成されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記外部シャフトが前記可撓性回路を中心に回転すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様1に記載のシステム。
(9) 前記外科用器具が、前記シャフトアセンブリの遠位端に連結されたエンドエフェクタを更に備え、前記エンドエフェクタが一対の外科用ジョーを備え、
前記シャフトアセンブリが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記シャフト制御エレクトロニクスの前記非固定構成要素が、前記クランプアームドライバに固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記クランプアームドライバが並進すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様1に記載のシステム。
(10) 前記プロセッサは、前記シャフト制御エレクトロニクスの前記固定構成要素によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、実施態様2に記載のシステム。
(12) ハンドルを備えるハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトアセンブリと、
可撓性回路と、
を備えた外科用器具であって、
前記ハンドルアセンブリは前記可撓性回路の近位部分を含み、前記シャフトアセンブリは前記可撓性回路の遠位部分を含み、
前記シャフトアセンブリは、
前記可撓性回路の前記遠位部分の周囲に位置決めされており、かつ前記可撓性回路の前記遠位部分の少なくとも副部分が静止したままである間に位置を変えるように構成されている外部シャフトと、
固定部分及び非固定部分を含むシャフト制御エレクトロニクスであって、前記固定部分は前記可撓性回路の前記遠位部分に連結されており、前記非固定部分は前記外部シャフトに連結されている、シャフト制御エレクトロニクスと、を更に備え、
前記シャフト制御エレクトロニクスの前記固定部分は、前記外部シャフトが位置を変えると、前記シャフト制御エレクトロニクスの前記非固定部分への距離を測定するように構成されている、
外科用器具。
(13) 前記可撓性回路に連結されており、かつ前記固定部分と前記非固定部分との間の距離の変化に基づいて、前記シャフト制御エレクトロニクスの前記非固定部分の位置の3次元変化を算出することにより、前記外部シャフトの位置の3次元変化を決定するように構成されている、プロセッサを更に含む、実施態様12に記載の外科用器具。
(14) 前記ハンドルアセンブリが、
前記可撓性回路の前記近位部分を含む第1のモジュールと、
前記ハンドルを含む第2のモジュールと、
を備え、
前記第1のモジュールが、前記第2のモジュールから連結が解かれるように構成されている、
実施態様12に記載の外科用器具。
(15) 前記第1のモジュールが、前記可撓性回路の前記近位部分に通信可能に連結されている第1の組の接点を含み、前記第2のモジュールが、前記ハンドルに通信可能に連結されている第2の組の接点を含む、実施態様14に記載の外科用器具。
(17) 前記シャフトアセンブリが、関節接合継手、前記シャフトアセンブリの第1の構成要素及び第2の構成要素を備え、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記可撓性回路が、前記関節接合継手内で関節接合するように構成されており、
前記シャフト制御エレクトロニクスの前記非固定部分が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記シャフトアセンブリの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様12に記載の外科用器具。
(18) 前記外部シャフトが、前記可撓性回路を中心に回転するように構成されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記外部シャフトが前記可撓性回路を中心に回転すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様12に記載の外科用器具。
(19) 前記外科用器具が、前記シャフトアセンブリの遠位端に連結されたエンドエフェクタを更に備え、前記エンドエフェクタが一対の外科用ジョーを備え、
前記シャフトアセンブリが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記シャフト制御エレクトロニクスの前記非固定構成要素が、前記クランプアームドライバに固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記クランプアームドライバが並進すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
実施態様1に記載の外科用器具。
(20) プロセッサにより実行されると、前記プロセッサにハンドルアセンブリ、シャフトアセンブリ及び可撓性回路を備えた外科用器具の操作を行わせる命令を含む非一過性の信号を有するコンピュータに読み出し可能な媒体であって、前記操作が、
前記シャフトアセンブリが静止したままである間に前記シャフトアセンブリ中のシャフト制御エレクトロニクスの固定部分と前記シャフト制御エレクトロニクスの非固定部分との間の第1の距離を受信することと、
前記シャフトアセンブリの固定部分が静止したままである間に前記シャフトアセンブリの非固定部分の位置を変化させることと、
前記シャフトアセンブリの前記非固定部分が位置を変えると、前記シャフト制御エレクトロニクスの前記固定部分と前記シャフト制御エレクトロニクスの前記非固定部分との間の第2の距離を受信することと、
前記第1の距離と前記第2の距離との間の比較に基づいて、前記シャフトアセンブリの前記非固定部分の位置の変化を算出することと、を含む、
コンピュータに読み出し可能な媒体。
Claims (20)
- ハンドルを備えるハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトアセンブリと、
可撓性回路と、を備えた外科用器具を含むシステムであって、前記ハンドルアセンブリは前記可撓性回路の近位部分を含み、前記シャフトアセンブリは前記可撓性回路の遠位部分を含み、
前記シャフトアセンブリは、
前記可撓性回路の前記遠位部分の周囲に位置決めされており、かつ前記可撓性回路の前記遠位部分の少なくとも副部分が静止したままである間に位置を変えるように構成されている外部シャフトと、
固定部分及び非固定部分を含むシャフト制御エレクトロニクスであって、前記固定部分は前記可撓性回路の前記遠位部分に連結されており、前記非固定部分は前記外部シャフトに連結されている、シャフト制御エレクトロニクスと、を更に備え、
前記シャフト制御エレクトロニクスの前記固定部分は、前記外部シャフトが位置を変えると、前記シャフト制御エレクトロニクスの前記非固定部分への距離を測定するように構成されている、
システム。 - 前記可撓性回路に連結されており、かつ前記固定部分と前記非固定部分との間の距離の変化に基づいて、前記シャフト制御エレクトロニクスの前記非固定部分の位置の3次元変化を算出することにより、前記外部シャフトの位置の3次元変化を決定するように構成されている、プロセッサを更に含む、請求項1に記載のシステム。
- 前記ハンドルアセンブリが、
前記可撓性回路の前記近位部分を含む第1のモジュールと、
前記ハンドルを含む第2のモジュールと、
を備え、
前記第1のモジュールが、前記第2のモジュールから連結が解かれるように構成されている、
請求項1に記載のシステム。 - 前記第1のモジュールが、前記可撓性回路の前記近位部分に通信可能に連結されている第1の組の接点を含み、前記第2のモジュールが、前記ハンドルに通信可能に連結されている第2の組の接点を含む、請求項3に記載のシステム。
- 前記第1の組の接点は、前記第1のモジュールが前記第2のモジュールに連結されている間に前記第2の組の接点に固定可能に連動するように構成されている、請求項4に記載のシステム。
- 前記ハンドルが、前記第1の組及び第2の組の接点を介して、前記可撓性回路に電子信号を伝送するように構成されている、請求項5に記載のシステム。
- 前記シャフトアセンブリが、関節接合継手、前記シャフトアセンブリの第1の構成要素及び第2の構成要素を備え、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記可撓性回路が、前記関節接合継手内で関節接合するように構成されており、
前記シャフト制御エレクトロニクスの前記非固定部分が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記シャフトアセンブリの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項1に記載のシステム。 - 前記外部シャフトが、前記可撓性回路を中心に回転するように構成されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記外部シャフトが前記可撓性回路を中心に回転すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項1に記載のシステム。 - 前記外科用器具が、前記シャフトアセンブリの遠位端に連結されたエンドエフェクタを更に備え、前記エンドエフェクタが一対の外科用ジョーを備え、
前記シャフトアセンブリが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記シャフト制御エレクトロニクスの前記非固定構成要素が、前記クランプアームドライバに固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記クランプアームドライバが並進すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項1に記載のシステム。 - 前記プロセッサは、前記シャフト制御エレクトロニクスの前記固定構成要素によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、請求項2に記載のシステム。
- 前記外科用器具が、前記ハンドルアセンブリに通信可能に連結されており、かつ前記シャフトアセンブリの少なくとも一部を回転させるように構成されている、回転ドライバを更に備える、請求項1に記載のシステム。
- ハンドルを備えるハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトアセンブリと、
可撓性回路と、
を備えた外科用器具であって、
前記ハンドルアセンブリは前記可撓性回路の近位部分を含み、前記シャフトアセンブリは前記可撓性回路の遠位部分を含み、
前記シャフトアセンブリは、
前記可撓性回路の前記遠位部分の周囲に位置決めされており、かつ前記可撓性回路の前記遠位部分の少なくとも副部分が静止したままである間に位置を変えるように構成されている外部シャフトと、
固定部分及び非固定部分を含むシャフト制御エレクトロニクスであって、前記固定部分は前記可撓性回路の前記遠位部分に連結されており、前記非固定部分は前記外部シャフトに連結されている、シャフト制御エレクトロニクスと、を更に備え、
前記シャフト制御エレクトロニクスの前記固定部分は、前記外部シャフトが位置を変えると、前記シャフト制御エレクトロニクスの前記非固定部分への距離を測定するように構成されている、
外科用器具。 - 前記可撓性回路に連結されており、かつ前記固定部分と前記非固定部分との間の距離の変化に基づいて、前記シャフト制御エレクトロニクスの前記非固定部分の位置の3次元変化を算出することにより、前記外部シャフトの位置の3次元変化を決定するように構成されている、プロセッサを更に含む、請求項12に記載の外科用器具。
- 前記ハンドルアセンブリが、
前記可撓性回路の前記近位部分を含む第1のモジュールと、
前記ハンドルを含む第2のモジュールと、
を備え、
前記第1のモジュールが、前記第2のモジュールから連結が解かれるように構成されている、
請求項12に記載の外科用器具。 - 前記第1のモジュールが、前記可撓性回路の前記近位部分に通信可能に連結されている第1の組の接点を含み、前記第2のモジュールが、前記ハンドルに通信可能に連結されている第2の組の接点を含む、請求項14に記載の外科用器具。
- 前記第1の組の接点は、前記第1のモジュールが前記第2のモジュールに連結されている間に前記第2の組の接点に固定可能に連動するように構成されており、前記ハンドルが、前記第1の組及び第2の組の接点を介して、前記可撓性回路に電子信号を伝送するように構成されている、請求項15に記載の外科用器具。
- 前記シャフトアセンブリが、関節接合継手、前記シャフトアセンブリの第1の構成要素及び第2の構成要素を備え、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記可撓性回路が、前記関節接合継手内で関節接合するように構成されており、
前記シャフト制御エレクトロニクスの前記非固定部分が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記シャフトアセンブリの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項12に記載の外科用器具。 - 前記外部シャフトが、前記可撓性回路を中心に回転するように構成されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記外部シャフトが前記可撓性回路を中心に回転すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項12に記載の外科用器具。 - 前記外科用器具が、前記シャフトアセンブリの遠位端に連結されたエンドエフェクタを更に備え、前記エンドエフェクタが一対の外科用ジョーを備え、
前記シャフトアセンブリが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記シャフト制御エレクトロニクスの前記非固定構成要素が、前記クランプアームドライバに固定して連結されており、
前記シャフト制御エレクトロニクスの前記固定構成要素は、前記クランプアームドライバが並進すると、前記非固定構成要素から離れた距離の変化を測定するように構成されている、
請求項1に記載の外科用器具。 - プロセッサにより実行されると、前記プロセッサにハンドルアセンブリ、シャフトアセンブリ及び可撓性回路を備えた外科用器具の操作を行わせる命令を含む非一過性の信号を有するコンピュータに読み出し可能な媒体であって、前記操作が、
前記シャフトアセンブリが静止したままである間に前記シャフトアセンブリ中のシャフト制御エレクトロニクスの固定部分と前記シャフト制御エレクトロニクスの非固定部分との間の第1の距離を受信することと、
前記シャフトアセンブリの固定部分が静止したままである間に前記シャフトアセンブリの非固定部分の位置を変化させることと、
前記シャフトアセンブリの前記非固定部分が位置を変えると、前記シャフト制御エレクトロニクスの前記固定部分と前記シャフト制御エレクトロニクスの前記非固定部分との間の第2の距離を受信することと、
前記第1の距離と前記第2の距離との間の比較に基づいて、前記シャフトアセンブリの前記非固定部分の位置の変化を算出することと、を含む、
コンピュータに読み出し可能な媒体。
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29763501P | 2001-06-12 | 2001-06-12 | |
US201662279635P | 2016-01-15 | 2016-01-15 | |
US62/279,635 | 2016-01-15 | ||
US201662330669P | 2016-05-02 | 2016-05-02 | |
US62/330,669 | 2016-05-02 | ||
US15/382,290 | 2016-12-16 | ||
US15/382,288 US11229472B2 (en) | 2001-06-12 | 2016-12-16 | Modular battery powered handheld surgical instrument with multiple magnetic position sensors |
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CN108697457A (zh) | 2018-10-23 |
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JP2019503782A (ja) | 2019-02-14 |
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CN108697457B (zh) | 2021-05-07 |
CN108697458B (zh) | 2021-05-25 |
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WO2017123844A1 (en) | 2017-07-20 |
JP6921828B2 (ja) | 2021-08-18 |
US20170202598A1 (en) | 2017-07-20 |
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BR112018014348A2 (pt) | 2018-12-11 |
JP6896743B2 (ja) | 2021-06-30 |
EP3402430A2 (en) | 2018-11-21 |
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