JP2020512076A - ロボットアームを外科用テーブルに取り付けるためのカプラ - Google Patents
ロボットアームを外科用テーブルに取り付けるためのカプラ Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
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- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B21/00—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings
- F16B21/10—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts
- F16B21/16—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts with grooves or notches in the pin or shaft
- F16B21/165—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts with grooves or notches in the pin or shaft with balls or rollers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2/00—Friction-grip releasable fastenings
- F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
- F16B2/16—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening using rollers or balls
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Abstract
Description
本出願は、2017年3月26日に出願された、参照により本明細書に組み込まれる、同時係属中の米国特許仮出願第62/476,816号の非仮出願である。
ロボットアームを外科用テーブルに連結するための装置及び方法。他の実施形態も本明細書に記載される。
本明細書に開示された実施形態は、添付図面の図に例として図示されているのであって、限定として図示されているのではなく、また添付図面では同様の参照符号が類似の要素を示す。なお、本開示における「一(an)」又は「1つの(one)」実施形態への言及は、必ずしも同じ実施形態ではなく、それらは少なくとも1つの実施形態を意味するものとする。
図1A〜図1Bに概略的に示すように、外科用テーブル100は、テーブルトップ120、テーブル支持体122、及びテーブル基部124を含む。図1Aに概略的に示すように、テーブルトップ120は、患者Pが外科手技中に配置され得る上面を有する。テーブルトップ120は、例えば、床面の上方の好適な高さで基台となり得る支持体122上に配置される。支持体122(また、本明細書では基台とも称される)は、Z軸(床の上方の高さ)、Y軸(テーブルの長手方向軸に沿う)、及び/若しくはX軸(テーブルの横方向軸に沿う)における並進、並びに/又はZ、Y、及び/若しくはX軸の周りの回転などの、所望の数の自由度で、テーブルトップ120の移動を提供し得る。テーブルトップ120はまた、任意の好適な軸に沿って/その周りに互いに対して移動可能である複数の区分、例えば、胴体、一方又は両方の脚部、及び/又は一方若しくは両方の腕、並びに頭部支持区分の各々に対して別個の区分を含んでもよい。テーブルトップ120及び/又はその構成区分の移動は、手動で実行され、モータによって駆動され、遠隔で制御され、又は任意の他の好適な手段を介してもよい。テーブルトップ用の支持体122は、基部124に装着されてもよく、基部124は、手術室の床面に固定することができ、又は、例えば、基部124上の車輪の使用によって床面に対して移動可能となり得る。いくつかの実施形態において、支持体122の高さは、例えば、テーブルトップ120の運動(例えば、軸方向(縦方向)又は横方向運動)と共に調節することができ、テーブルトップ120が、床面の上方のある高さ(例えば、外科医のアクセスを可能にするための)及び支持体120からのある距離で、所望の外科用部位において位置決めされることを可能とすることができる。これはまた、テーブル100に連結されたロボットアーム(例えば、下記で考察されるアーム130)が、テーブルトップ120上に配置された患者P上の所望の治療目標に到達することを可能にし得る。
図3に概略的に示すように、カプラ310が、ロボットアーム320を外科用テーブル300に連結するために提供されてもよい。本明細書に記載されたようなカプラ310は、外科用テーブル及びロボットアーム(例えば、外科用テーブル100、200、ロボットアーム130、230)、及び本明細書に記載の方法のいずれかと共に使用可能である。カプラ310は、ロボットアームのための端子基部部分Aなどの第1の部分312(例えば、アームアダプタ)を含むことができる。カプラ310は、外科用テーブル300に装着するための基部部分Bなどの第2の部分314を含むことができる。ロボットアーム320は、第1の部分312に連結することができ、第1の部分312を第2の部分314に連結する前に、テーブルトップ302を第2の部分314に連結することができる。ロボットアーム320を外科用テーブル300に連結することにより、テーブル300に連結されたロボットアームがテーブルトップ302上に配置された患者に対する所望の治療目標に到達することを可能にすることができる。第1の部分312及び第2の部分314は、電力及びデータコネクタを更に含んでもよい。第1の部分312及び第2の部分314は、第1の部分312がテーブル300に連結し、かつ第2の部分314がロボットアーム320に連結するように入れ替わってもよいことは認識されるはずである。
図4Aは、第1の部分410及び第2の部分420を含むカプラ400の一実施形態の側面図である。第1の部分410と第2の部分420との連結は、6自由度が制約される強固な嵌合接続を形成する。例えば、強固な嵌合接続は、第2の部分420に対する第1の部分410の、Z軸、Y軸、及び/若しくはX軸における並進、並びに/又はZ軸、Y軸、及び/若しくはX軸の周りの回転をy軸制約する。第1の部分410は、第1の部分410と第2の部分420との間の連結をロック及び固定するように構成されたハンドル454と、本明細書に記載されるような、対応する運動学的取り付け部430に接触するように構成されたV溝432のセットと、を含む。第2の部分420は、第1の部分410と嵌合するようにY軸に沿って並進させ得るポスト422(例えば、ロックポスト)を含む。ポスト422を第1の部分410に連結することにより、Y軸に沿った並進を制約してもよい。図4Bは、カプラ400に対するX軸、Y軸、及びZ軸を示す図である。
図8は、外部負荷(例えば、外科手技中のロボットアーム静的負荷及び慣性負荷)の存在下でさえも、連結が6自由度で制約及び維持されることを確保するために高い力を発生させ得る電動式ロック機構によって駆動されるカプラ800の一実施形態の断面側面図である。カプラ800は、第1の部分810及び第2の部分820を含んでもよい。第1の部分810と第2の部分820との連結は、6自由度が制約される強固な嵌合接続を形成する。この図から、第1の部分810は、第1の端部856(ロボットアームに連結された端部)及び第2の端部858(第2の部分820に連結された端部)と、第1の端部と第2の端部との間の第1の部分810内に形成された内部空洞864と、を含むことが分かる。内部空洞864への開口部は、第2の端部858を通って形成される。第1の部分810は、第1の部分810と第2の部分820との間の連結をロック及び固定するように構成された駆動機構に連結されたロック機構を含んでもよい。第2の部分は、第1の部分810と嵌合するようにY軸に沿って並進させてY軸に沿った並進を制約し得るポスト822を含む。ポスト822は、回転可能なコレット830の対応するねじ付き部分832に連結され得る主ねじ824を含む。モータ850は、コレット830を主ねじ924の周りに第1の方向に回転するように駆動して、それにより、主ねじ824をY軸に沿って第1の部分810内に並進させてもよい。このようにして、コレット830をポスト822と係合させて、第1の部分810を第2の部分820に強固にロック及び連結してもよい。コレット830を第1の方向とは反対の第2の方向に回転させることにより、主ねじ824をY軸に沿って第1の部分810から外に並進させてもよい。いくつかの実施形態では、主ねじ824のピッチ角は、約2度〜約30度であってもよい。いくつかの実施形態では、主ねじ824のピッチ角は、約10度〜約15度であってもよい。いくつかの実施形態では、主ねじ824のピッチ角は、主ねじ824が後退駆動されるのを防止するように構成されてもよい。
図9Aは、カプラ900の一実施形態の斜視側面図である。カプラ900は、外科用テーブル(例えば、外科用テーブル300)に装着するための基部部分などの第1の部分910を含むことができる。カプラ900は、ロボットアームのための端子基部部分などの第2の部分920(例えば、アームアダプタ)を含むことができる。第1の部分910と第2の部分920との連結は、6自由度が制約される強固な嵌合接続を形成する。第1の部分910は、本明細書に記載されるように、第1の部分910と第2の部分920との間の連結をロック及び固定するように構成されたハンドル940と、対応する位置整合穴(図示せず)と接触するように構成された位置整合突出部960と、を含む。第1の部分910は、第2の部分920の円錐受容穴912(図9D)と嵌合するようにY軸に沿って並進させてY軸に沿った並進を制約し得る円錐930を含む。図9Bは、カプラ900に対するX軸、Y軸、及びZ軸を示す図である。第1の部分910及び第2の部分920は、第1の部分910が外科用テーブルに連結し、かつ第2の部分920がロボットアームに連結するように、入れ替わってもよいことは認識されるはずである。
図11A、図11E、及び図11Hは、第1の部分1110及び第2の部分1120を含むカプラ1100の実施形態の断面側面図である。第1の部分1110と第2の部分1120との連結は、6自由度が制約される強固な嵌合接続を形成する。第1の部分及び第2の部分は各々、カプラ1100を介して電力及びデータを提供するための電気インターフェース1126を含んでもよい。第1の部分1110は、第1の部分1110を第2の部分1120に連結するように構成されたばね1114に連結されたボールベアリング1112を含む。いくつかの実施形態では、スプリングバックを防止するために、能動ロックがばね1114に更に連結されてもよい。第2の部分1120は、第1の部分1110と嵌合するようにY軸に沿って並進させ得るポスト1122を含む。第2の部分1120は、第1の表面1123及び第2の表面1124を含んでもよい。第2の表面1124は、第1の表面1123に対してより急な角度を有してもよい。半径方向クランプ1130は、第2の部分1120の周囲に配置されてもよい。ポスト1122を第1の部分1110に連結することにより、Y軸に沿った並進を制約してもよい。
図13A〜図13Dは、第1の部分1310及び第2の部分1320を含むカプラ1300の実施形態の斜視図である。第1の部分1310と第2の部分1320との連結は、6自由度が制約される強固な嵌合接続を形成する。第1の部分及び第2の部分は各々、カプラ1300を介して電力及びデータを提供するための電気インターフェースを含んでもよい。ポスト穴1312は、図13A〜図13Cに示される第2の電気コネクタ1330に連結するように構成された、図13Cに示される第1の電気コネクタ1316を含んでもよい。
Claims (20)
- ロボットアームを外科用テーブルに連結するためのカプラであって、
外科用テーブルに連結するように構成された第1の部分と、
ロボットアームに連結するように構成された第2の部分であって、前記第2の部分が、前記第1の部分の第1の軸に沿って並進して前記第2の部分を前記第1の部分に連結するように構成されたポストを有する、第2の部分と、
前記第1の部分と前記第2の部分との間の連結をロック位置とロック解除位置との間で移行させるように構成されたロック機構であって、前記ロック位置において、前記第2の部分に対する前記第1の部分の6自由度での移動が制約される、ロック機構と、を含む、カプラ。 - 前記ロック機構が、第1のカムと、第2のカムと、前記第1の部分の内部空洞内に位置付けられたボールベアリングアセンブリと、を含み、前記第1の軸に沿った前記第1のカム及び前記第2のカムの並進がボールベアリングアセンブリに、前記第1の軸に沿って前記ポストを前記ロック位置又は前記ロック解除位置へと並進させる、請求項1に記載のカプラ。
- 前記ボールベアリングアセンブリが、ボールベアリングホルダと、前記第1の部分の前記内部空洞内での前記ボールベアリングアセンブリの並進を可能にするボールベアリングと、を含み、前記ボールベアリングホルダが、前記ポストを受容するように寸法決めされた受容空洞を含み、前記第1の部分の前記内部空洞が内部接触表面を含み、前記ポストが外部接触表面を含み、前記ボールベアリングが前記ロック位置において前記内部接触表面及び前記外部接触表面に接触する、請求項2に記載のカプラ。
- 前記第1のカム及び前記第2のカムの各々が、前記ロック機構の並進機能又は軸方向力機能を調節するように構成された可変カム表面プロファイルを有する面カムである、請求項2に記載のカプラ。
- 前記ロック機構が、前記ボールベアリングアセンブリに付勢力を加えるように構成された付勢部材を更に含む、請求項2に記載のカプラ。
- 前記第1の部分が、外面に沿って軸方向に配向された溝を含み、前記第2の部分は、前記第2の部分が前記第1の部分に連結されたときに前記溝と嵌合するように構成された運動学的取り付け部を含み、前記運動学的取り付け部及び前記溝が、前記第2の部分に対する前記第1の部分の並進又は回転を制約するように寸法決めされている、請求項1に記載のカプラ。
- 前記第1の部分が位置整合開口部を更に含み、前記第2の部分が位置整合突出部を含み、前記位置整合突出部が、前記位置整合開口部と単一の向きで嵌合し、かつ前記第2の部分に対する前記第1の部分の位置不整合を防止するように構成された非対称形状を有する、請求項1に記載のカプラ。
- 前記第2の部分の前記ポストが、前記第1の部分を取り囲んで前記第1の軸に沿った前記第2の部分に対する前記第1の部分の並進を制約するように寸法決めされている、請求項1に記載のカプラ。
- 前記ロック機構が、ボールベアリングのセットと、ブッシングに連結されたカムと、前記第1の部分の内部空洞内に位置付けられたシャフトと、を備え、前記カム及び前記ブッシングが、前記シャフトに沿って並進して前記ロック位置と前記ロック解除位置との間の前記ポストに対する前記ボールベアリングのセットの接触力を変化させるように構成されている、請求項1に記載のカプラ。
- 前記ポストが、前記第1の部分の円錐受容空洞と嵌合して前記第2の部分を前記第1の部分に連結するように構成された円錐であり、前記円錐が、前記第1の部分と前記第2の部分との間の連結の高い剛性を維持しながら低い解放力を達成するように構成されたテーパ角を有する、請求項1に記載のカプラ。
- 前記円錐のノーズに配置されたピンを更に含み、前記ピンが、第1の構成で前記円錐の前記ノーズから突出するように構成され、第2の構成で前記ノーズ内に後退し、前記第1の構成又は前記第2の構成が、前記ロック機構のハンドルの向きに対応する、請求項10に記載のカプラ。
- 前記円錐の側面に沿って配置された係止部であって、前記係止部が、第1の構成で前記円錐の前記側面から突出するように付勢され、第2の構成で前記円錐の前記側面の中に後退する、係止部と、
前記第1の構成で前記第1の部分の前記係止部を受容して前記第2の部分を前記第1の部分に連結するための、前記第2の部分の前記円錐受容空洞の内面に沿って形成された係止溝、又は前記係止部を前記第1の構成と前記第2の構成との間で移行させるためのスイッチと、を更に含む、請求項10に記載のカプラ。 - 前記第1の部分と前記第2の部分との間に電気的インターフェースを更に含み、前記電気的インターフェースが、前記ロック機構を駆動するためにモータに電力を供給するように動作可能である、請求項1に記載のカプラ。
- ロボットアームを外科用テーブルに連結するためのカプラであって、
外科用テーブルに連結するように構成された第1の端部と、第2の端部と、を有する第1の部分であって、前記第2の端部が、前記第1の部分内の内部空洞への開口部を画定する、第1の部分と、
ロボットアームに連結するように構成された第2の部分であって、前記第2の部分が、前記内部空洞内に受容され、かつ前記第1の部分の第1の軸に沿って並進して前記第2の部分を前記第1の部分に連結するように構成されたポストを有する、第2の部分と、
前記第2の部分に対する前記第1の部分の6自由度での移動を制約するように構成されたロック機構と、
前記ロック機構の動作を駆動するように構成された駆動機構と、を含む、カプラ。 - 前記ロック機構が、前記第1の部分の前記内部空洞内に回転可能に位置付けられたコレットを含み、前記第2の部分の前記ポストが、前記コレット内に受容されるように構成された主ねじを含み、前記第1の軸の周囲の第1の方向での前記コレットの回転が、前記主ねじを前記コレットに向かう方向に前記第1の軸に沿って並進させて前記第1の部分を前記第2の部分にロックし、前記第1の軸の周囲の第2の方向での前記コレットの回転が、前記主ねじを前記コレットから遠ざかる方向に前記第1の軸に沿って並進させて前記第1の部分を前記第2の部分からロック解除する、請求項14に記載のカプラ。
- 前記第1の部分と前記第2の部分との間の連結及び連結解除を検出するように構成された接続センサを更に含む、請求項14に記載のカプラ。
- 前記ロック機構が、コレットと、前記第2の部分の前記内部空洞内に位置付けられたボールベアリングホルダと、を含み、前記コレットが、前記第1の部分の前記第1の軸の周囲で回転し、かつ前記コレットに向かう方向への前記第1の軸に沿った前記ボールベアリングホルダの並進を駆動して、前記第1の部分を前記第2の部分にロックするように動作可能である、請求項14に記載のカプラ。
- 前記ロック機構が、前記第2の部分の周囲に配置された半径方向圧縮部材を含み、前記半径方向圧縮部材が、前記第2の部分に半径方向力を加えて前記第2の部分を前記第1の部分にロックするように動作可能であり、前記駆動機構が、第1の構成で前記半径方向圧縮部材に連結されたハンドル及びねじ、又は第2の構成で前記半径方向圧縮部材に連結されたカムを含み、前記ハンドルが、前記第1の構成で前記ねじを回転させるように動作可能であり、前記カムが、前記第2の部分の周りの前記半径方向圧縮部材の半径方向圧縮力を変化させるように前記第2の構成で動作可能である、請求項14に記載のカプラ。
- 前記ロック機構が、前記第2の部分の外面の周囲に位置付けられた圧縮可能コレットを含み、前記圧縮可能コレットが、前記第1の部分と前記第2の部分との間で圧縮されて、前記第1の部分と前記第2の部分との間の連結を形成するように動作可能であり、圧縮可能収集が、前記第1の部分と前記第2の部分との間の電気的接続を提供するように構成されている、請求項14に記載のカプラ。
- 前記圧縮可能収集に連結されたトグルを更に含み、前記トグルが、前記圧縮可能収集をロック位置とロック解除位置との間で並進させるように動作可能である、請求項19に記載のカプラ。
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US15/934,709 US11078945B2 (en) | 2017-03-26 | 2018-03-23 | Coupler to attach robotic arm to surgical table |
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- 2018-03-26 WO PCT/US2018/024393 patent/WO2018183212A1/en unknown
- 2018-03-26 EP EP18774510.4A patent/EP3579783A4/en active Pending
- 2018-03-26 JP JP2019551299A patent/JP6905162B2/ja active Active
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BR112019017981A2 (pt) | 2020-05-19 |
US20210341007A1 (en) | 2021-11-04 |
CA3054431A1 (en) | 2018-10-04 |
US11078945B2 (en) | 2021-08-03 |
EP3579783A1 (en) | 2019-12-18 |
KR20190112829A (ko) | 2019-10-07 |
WO2018183212A1 (en) | 2018-10-04 |
US20180271604A1 (en) | 2018-09-27 |
CN110709025A (zh) | 2020-01-17 |
KR102326102B1 (ko) | 2021-11-17 |
CA3054431C (en) | 2023-07-25 |
EP3579783A4 (en) | 2020-12-16 |
CN110709025B (zh) | 2024-03-01 |
AU2018243738A1 (en) | 2019-09-12 |
JP6905162B2 (ja) | 2021-07-21 |
AU2018243738B2 (en) | 2021-08-12 |
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