JP6177314B2 - 管腔内データと管腔外イメージングとの併用 - Google Patents

管腔内データと管腔外イメージングとの併用 Download PDF

Info

Publication number
JP6177314B2
JP6177314B2 JP2015513348A JP2015513348A JP6177314B2 JP 6177314 B2 JP6177314 B2 JP 6177314B2 JP 2015513348 A JP2015513348 A JP 2015513348A JP 2015513348 A JP2015513348 A JP 2015513348A JP 6177314 B2 JP6177314 B2 JP 6177314B2
Authority
JP
Japan
Prior art keywords
image
intraluminal
lumen
data acquisition
extraluminal
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
Application number
JP2015513348A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015519957A (ja
JP2015519957A5 (enExample
Inventor
ステインバーグ、アレキサンダー
クライマン、エルダッド
コーヘン、ラン
トルコヴスキー、デイヴィッド
バーゼライ、ゾハァー
Original Assignee
シンク−アールエックス，リミティド
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by シンク−アールエックス，リミティド filed Critical シンク−アールエックス，リミティド
Publication of JP2015519957A publication Critical patent/JP2015519957A/ja
Publication of JP2015519957A5 publication Critical patent/JP2015519957A5/ja
Application granted granted Critical
Publication of JP6177314B2 publication Critical patent/JP6177314B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
    • 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
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • 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
    • A61B6/48—Diagnostic techniques
    • A61B6/486—Diagnostic techniques involving generating temporal series of image data
    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
    • 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
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/504—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of blood vessels, e.g. by angiography
    • 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
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
    • 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
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • 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
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/541—Control of apparatus or devices for radiation diagnosis involving acquisition triggered by a physiological signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G06T2207/10121—Fluoroscopy
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30101—Blood vessel; Artery; Vein; Vascular

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Physiology (AREA)
  • Theoretical Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Gynecology & Obstetrics (AREA)
  • Human Computer Interaction (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Endoscopes (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Surgical Instruments (AREA)
JP2015513348A 2012-05-21 2013-05-21 管腔内データと管腔外イメージングとの併用 Active JP6177314B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261688730P 2012-05-21 2012-05-21
US61/688,730 2012-05-21
US201361761709P 2013-02-07 2013-02-07
US61/761,709 2013-02-07
PCT/IL2013/050438 WO2013175472A2 (en) 2012-05-21 2013-05-21 Co-use of endoluminal data and extraluminal imaging

Publications (3)

Publication Number Publication Date
JP2015519957A JP2015519957A (ja) 2015-07-16
JP2015519957A5 JP2015519957A5 (enExample) 2016-07-21
JP6177314B2 true JP6177314B2 (ja) 2017-08-09

Family

ID=49624452

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015513348A Active JP6177314B2 (ja) 2012-05-21 2013-05-21 管腔内データと管腔外イメージングとの併用

Country Status (4)

Country Link
EP (1) EP2852319B1 (enExample)
JP (1) JP6177314B2 (enExample)
CA (2) CA2874415A1 (enExample)
WO (1) WO2013175472A2 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10963757B2 (en) 2018-12-14 2021-03-30 Industrial Technology Research Institute Neural network model fusion method and electronic device using the same

Families Citing this family (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11197651B2 (en) 2007-03-08 2021-12-14 Sync-Rx, Ltd. Identification and presentation of device-to-vessel relative motion
US9629571B2 (en) 2007-03-08 2017-04-25 Sync-Rx, Ltd. Co-use of endoluminal data and extraluminal imaging
JP5639764B2 (ja) 2007-03-08 2014-12-10 シンク−アールエックス，リミティド 運動する器官と共に使用するイメージング及びツール
US11064964B2 (en) 2007-03-08 2021-07-20 Sync-Rx, Ltd Determining a characteristic of a lumen by measuring velocity of a contrast agent
US9375164B2 (en) 2007-03-08 2016-06-28 Sync-Rx, Ltd. Co-use of endoluminal data and extraluminal imaging
US9968256B2 (en) 2007-03-08 2018-05-15 Sync-Rx Ltd. Automatic identification of a tool
US9305334B2 (en) 2007-03-08 2016-04-05 Sync-Rx, Ltd. Luminal background cleaning
US10716528B2 (en) 2007-03-08 2020-07-21 Sync-Rx, Ltd. Automatic display of previously-acquired endoluminal images
US8542900B2 (en) 2007-03-08 2013-09-24 Sync-Rx Ltd. Automatic reduction of interfering elements from an image stream of a moving organ
US8855744B2 (en) 2008-11-18 2014-10-07 Sync-Rx, Ltd. Displaying a device within an endoluminal image stack
US9095313B2 (en) 2008-11-18 2015-08-04 Sync-Rx, Ltd. Accounting for non-uniform longitudinal motion during movement of an endoluminal imaging probe
US9974509B2 (en) 2008-11-18 2018-05-22 Sync-Rx Ltd. Image super enhancement
US11064903B2 (en) 2008-11-18 2021-07-20 Sync-Rx, Ltd Apparatus and methods for mapping a sequence of images to a roadmap image
US10362962B2 (en) 2008-11-18 2019-07-30 Synx-Rx, Ltd. Accounting for skipped imaging locations during movement of an endoluminal imaging probe
US9144394B2 (en) 2008-11-18 2015-09-29 Sync-Rx, Ltd. Apparatus and methods for determining a plurality of local calibration factors for an image
US9101286B2 (en) 2008-11-18 2015-08-11 Sync-Rx, Ltd. Apparatus and methods for determining a dimension of a portion of a stack of endoluminal data points
JP6134789B2 (ja) 2012-06-26 2017-05-24 シンク−アールエックス，リミティド 管腔器官における流れに関連する画像処理
WO2014091366A1 (en) * 2012-12-11 2014-06-19 Koninklijke Philips N.V. Spatial dimension determination device for determining a spatial dimension of a target element within an object
US9351698B2 (en) 2013-03-12 2016-05-31 Lightlab Imaging, Inc. Vascular data processing and image registration systems, methods, and apparatuses
WO2015101796A1 (en) * 2013-12-31 2015-07-09 General Electric Company Imaging method of a zone of a patient' s body superposing distance marking
US10152788B2 (en) * 2014-05-14 2018-12-11 Sync-Rx Ltd. Object identification
EP3302284A2 (en) * 2014-09-06 2018-04-11 Rapid Medical Technologies LLC Foreign object detection protocol system and method
US10499813B2 (en) 2014-09-12 2019-12-10 Lightlab Imaging, Inc. Methods, systems and apparatus for temporal calibration of an intravascular imaging system
US10646198B2 (en) 2015-05-17 2020-05-12 Lightlab Imaging, Inc. Intravascular imaging and guide catheter detection methods and systems
US9996921B2 (en) 2015-05-17 2018-06-12 LIGHTLAB IMAGING, lNC. Detection of metal stent struts
US10109058B2 (en) 2015-05-17 2018-10-23 Lightlab Imaging, Inc. Intravascular imaging system interfaces and stent detection methods
US10222956B2 (en) 2015-05-17 2019-03-05 Lightlab Imaging, Inc. Intravascular imaging user interface systems and methods
EP4159121A1 (en) 2015-07-25 2023-04-05 Lightlab Imaging, Inc. Intravascular data visualization method and device
EP3347857A1 (en) 2015-09-10 2018-07-18 Koninklijke Philips N.V. Automatic image feature removal
CN108633312B (zh) 2015-11-18 2022-11-08 光学实验室成像公司 一种在x射线图像中的造影云检测方法
JP6898927B2 (ja) 2015-11-23 2021-07-07 ライトラボ・イメージング・インコーポレーテッド 血管内画像における影の検出および検証
EP3443536B1 (en) 2016-04-14 2021-12-15 Lightlab Imaging, Inc. Identification of branches of a blood vessel
WO2017201026A1 (en) 2016-05-16 2017-11-23 Lightlab Imaging, Inc. Intravascular absorbable stent detection and diagnostic methods and systems
JP2019522529A (ja) 2016-06-22 2019-08-15 エスワイエヌシー−アールエックス、リミテッド 内腔に沿った管腔内デバイスの管腔内経路の推定
WO2017221159A1 (en) 2016-06-22 2017-12-28 Sync-Rx, Ltd. Updating an indication of a lumen location
WO2019170787A1 (en) * 2018-03-08 2019-09-12 Koninklijke Philips N.V. Intravascular navigation using data-driven orientation maps
US11107213B2 (en) * 2018-12-28 2021-08-31 Biosense Webster (Israel) Ltd. Correcting medical scans
US11882994B2 (en) * 2020-07-24 2024-01-30 Gyrus Acmi, Inc. Systems and methods for image reconstruction and endoscopic tracking
WO2022078744A1 (en) * 2020-10-12 2022-04-21 Philips Image Guided Therapy Corporation Extraluminal imaging based intraluminal therapy guidance systems, devices, and methods
CN116687576B (zh) * 2023-07-28 2024-01-16 北京万思医疗器械有限公司 用于血管介入手术机器人的介入耗材控制方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2290074T3 (es) * 1993-07-19 2008-02-16 Angiotech Pharmaceuticals, Inc. Composiciones anti-angiogenicas que contienen taxol y un vehiculo no biodegradable y su uso.
US8442618B2 (en) * 1999-05-18 2013-05-14 Mediguide Ltd. Method and system for delivering a medical device to a selected position within a lumen
EP1665168A1 (en) * 2003-09-04 2006-06-07 Philips Intellectual Property & Standards GmbH Device and method for displaying ultrasound images of a vessel
US7901348B2 (en) * 2003-12-12 2011-03-08 University Of Washington Catheterscope 3D guidance and interface system
WO2006076409A2 (en) * 2005-01-11 2006-07-20 Volcano Corporation Vascular image co-registration
WO2008062358A1 (en) * 2006-11-22 2008-05-29 Koninklijke Philips Electronics N.V. Combining x-ray with intravascularly acquired data
WO2012014212A2 (en) * 2010-07-29 2012-02-02 Sync-Rx, Ltd. Co-use of endoluminal data and extraluminal imaging
US8542900B2 (en) * 2007-03-08 2013-09-24 Sync-Rx Ltd. Automatic reduction of interfering elements from an image stream of a moving organ
US9278203B2 (en) * 2007-03-26 2016-03-08 Covidien Lp CT-enhanced fluoroscopy
EP2160978A1 (en) * 2008-09-05 2010-03-10 General Electric Company Method and apparatus for catheter guidance using a combination of ultrasound and x-ray imaging
EP2348982B1 (en) * 2008-12-03 2020-03-25 St. Jude Medical, Atrial Fibrillation Division, Inc. System for determining the positioin of the tip of a medical catheter within the body of a patient
CN102458554B (zh) * 2009-06-23 2015-09-30 皇家飞利浦电子股份有限公司 介入期间的设备尺寸测定支持
US8787635B2 (en) * 2010-05-03 2014-07-22 Siemens Aktiengesellschaft Optimization of multiple candidates in medical device or feature tracking
US8565859B2 (en) * 2010-06-29 2013-10-22 Siemens Aktiengesellschaft Method and system for image based device tracking for co-registration of angiography and intravascular ultrasound images

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10963757B2 (en) 2018-12-14 2021-03-30 Industrial Technology Research Institute Neural network model fusion method and electronic device using the same

Also Published As

Publication number Publication date
EP2852319A4 (en) 2016-01-20
EP2852319B1 (en) 2017-05-17
JP2015519957A (ja) 2015-07-16
WO2013175472A3 (en) 2014-02-27
CA2899735A1 (en) 2013-11-28
EP2852319A2 (en) 2015-04-01
WO2013175472A2 (en) 2013-11-28
CA2874415A1 (en) 2013-11-28

Similar Documents

Publication Publication Date Title
JP6177314B2 (ja) 管腔内データと管腔外イメージングとの併用
US11883149B2 (en) Apparatus and methods for mapping a sequence of images to a roadmap image
US9101286B2 (en) Apparatus and methods for determining a dimension of a portion of a stack of endoluminal data points
US10362962B2 (en) Accounting for skipped imaging locations during movement of an endoluminal imaging probe
US9144394B2 (en) Apparatus and methods for determining a plurality of local calibration factors for an image
US8855744B2 (en) Displaying a device within an endoluminal image stack
US9095313B2 (en) Accounting for non-uniform longitudinal motion during movement of an endoluminal imaging probe
JP6099562B2 (ja) 管腔内データおよび管腔外画像化の併用
US20200345321A1 (en) Automatic display of previously-acquired endoluminal images
US10916009B2 (en) Object identification
US9974509B2 (en) Image super enhancement
US9375164B2 (en) Co-use of endoluminal data and extraluminal imaging
US9629571B2 (en) Co-use of endoluminal data and extraluminal imaging
EP3176753B1 (en) Image analysis in the presence of a medical device
US20240164656A1 (en) Co-use of endoluminal data and extraluminal imaging

Legal Events

Date Code Title Description
RD01 Notification of change of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7426

Effective date: 20150818

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20150818

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20160516

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160518

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160518

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20160524

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170210

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20170214

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170302

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170531

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: 20170613

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170711

R150 Certificate of patent or registration of utility model

Ref document number: 6177314

Country of ref document: JP

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

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250