JP6517248B2 - 解剖学的方向に応じた超音波アレイの並進 - Google Patents
解剖学的方向に応じた超音波アレイの並進 Download PDFInfo
- Publication number
- JP6517248B2 JP6517248B2 JP2016575446A JP2016575446A JP6517248B2 JP 6517248 B2 JP6517248 B2 JP 6517248B2 JP 2016575446 A JP2016575446 A JP 2016575446A JP 2016575446 A JP2016575446 A JP 2016575446A JP 6517248 B2 JP6517248 B2 JP 6517248B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- imaging system
- ultrasound
- ultrasound image
- transducer array
- 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.)
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Classifications
-
- 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
- A61B8/0866—Clinical applications involving foetal diagnosis; pre-natal or peri-natal diagnosis of the baby
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/13—Tomography
- A61B8/14—Echo-tomography
- A61B8/145—Echo-tomography characterised by scanning multiple planes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
- A61B8/4494—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer characterised by the arrangement of the transducer elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5269—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving detection or reduction of artifacts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/58—Testing, adjusting or calibrating the diagnostic device
- A61B8/585—Automatic set-up of the device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8909—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration
- G01S15/8915—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8909—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration
- G01S15/8915—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array
- G01S15/8925—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array the array being a two-dimensional transducer configuration, i.e. matrix or orthogonal linear arrays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8934—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration
- G01S15/8936—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration using transducers mounted for mechanical movement in three dimensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8993—Three dimensional imaging systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52079—Constructional features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52098—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging related to workflow protocols
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/18—Methods or devices for transmitting, conducting or directing sound
- G10K11/26—Sound-focusing or directing, e.g. scanning
- G10K11/35—Sound-focusing or directing, e.g. scanning using mechanical steering of transducers or their beams
- G10K11/352—Sound-focusing or directing, e.g. scanning using mechanical steering of transducers or their beams by moving the transducer
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52079—Constructional features
- G01S7/5208—Constructional features with integration of processing functions inside probe or scanhead
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Gynecology & Obstetrics (AREA)
- Pregnancy & Childbirth (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201462018706P | 2014-06-30 | 2014-06-30 | |
| US62/018,706 | 2014-06-30 | ||
| PCT/IB2015/054528 WO2016001784A1 (en) | 2014-06-30 | 2015-06-16 | Translation of ultrasound array responsive to anatomical orientation |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017519579A JP2017519579A (ja) | 2017-07-20 |
| JP2017519579A5 JP2017519579A5 (enExample) | 2019-03-07 |
| JP6517248B2 true JP6517248B2 (ja) | 2019-05-22 |
Family
ID=53510944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016575446A Active JP6517248B2 (ja) | 2014-06-30 | 2015-06-16 | 解剖学的方向に応じた超音波アレイの並進 |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US11684343B2 (enExample) |
| EP (1) | EP3160357B1 (enExample) |
| JP (1) | JP6517248B2 (enExample) |
| CN (1) | CN106470612B (enExample) |
| RU (1) | RU2017102716A (enExample) |
| WO (1) | WO2016001784A1 (enExample) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957074A (zh) * | 2016-03-09 | 2021-06-15 | 安科诺思公司 | 利用人工智能网络的超声图像识别系统和方法 |
| WO2017186518A1 (en) * | 2016-04-26 | 2017-11-02 | Koninklijke Philips N.V. | 3d image compounding for ultrasound fetal imaging |
| JP6874021B2 (ja) * | 2016-05-06 | 2021-05-19 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 簡素化された3dイメージング制御を有する超音波イメージングシステム |
| JP7266523B2 (ja) * | 2016-12-15 | 2023-04-28 | コーニンクレッカ フィリップス エヌ ヴェ | 出産前超音波イメージング |
| EP3554384B1 (en) * | 2016-12-19 | 2022-09-14 | Koninklijke Philips N.V. | Fetal ultrasound imaging |
| CN111093518B (zh) | 2017-08-17 | 2023-09-26 | 皇家飞利浦有限公司 | 使用与图像的触摸交互而从体积数据中提取图像平面的超声系统 |
| US11717257B2 (en) * | 2018-01-22 | 2023-08-08 | General Electric Company | Fetal ultrasound monitoring method and system |
| US12070354B2 (en) * | 2018-10-16 | 2024-08-27 | General Electric Company | Methods and system for detecting medical imaging scan planes using probe position feedback |
| US20200253585A1 (en) * | 2019-02-13 | 2020-08-13 | Butterfly Network, Inc. | Methods and apparatuses for collecting ultrasound images depicting needles |
| DE112020002148T5 (de) * | 2019-06-06 | 2022-01-05 | Fujifilm Corporation | Unterstützungsvorrichtung für dreidimensionale ultraschallbildgebung, unterstützungsverfahren für dreidimensionale ultraschallbildgebung und unterstützungsprogramm für dreidimensionale ultraschallbildgebung |
| JP7567906B2 (ja) * | 2019-09-30 | 2024-10-16 | コーニンクレッカ フィリップス エヌ ヴェ | 超音波画像の記録 |
| US20210330296A1 (en) * | 2020-04-27 | 2021-10-28 | Butterfly Network, Inc. | Methods and apparatuses for enhancing ultrasound data |
| KR102426398B1 (ko) * | 2020-05-14 | 2022-07-28 | 한양대학교 산학협력단 | 태아의 움직임을 고려한 모터 구동 방식의 태아 심박 측정 시스템 및 그 방법 |
| CN114431892B (zh) * | 2020-10-30 | 2024-04-16 | 通用电气精准医疗有限责任公司 | 一种超声成像系统及超声成像方法 |
| IT202100004376A1 (it) * | 2021-02-25 | 2022-08-25 | Esaote Spa | Metodo di determinazione di piani di scansione nell’acquisizione di immagini ecografiche e sistema ecografico per l’attuazione del detto metodo |
Family Cites Families (29)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4381787A (en) * | 1980-08-15 | 1983-05-03 | Technicare Corporation | Ultrasound imaging system combining static B-scan and real-time sector scanning capability |
| JP2000237205A (ja) * | 1999-02-17 | 2000-09-05 | Toshiba Corp | 超音波治療装置 |
| US20020173721A1 (en) * | 1999-08-20 | 2002-11-21 | Novasonics, Inc. | User interface for handheld imaging devices |
| US6530885B1 (en) | 2000-03-17 | 2003-03-11 | Atl Ultrasound, Inc. | Spatially compounded three dimensional ultrasonic images |
| US6443896B1 (en) | 2000-08-17 | 2002-09-03 | Koninklijke Philips Electronics N.V. | Method for creating multiplanar ultrasonic images of a three dimensional object |
| US6478743B2 (en) * | 2001-03-16 | 2002-11-12 | Ge Medical Systems Global Technology Company, Llc | Transesophageal ultrasound probe with imaging element position sensor in scanhead |
| US6780153B2 (en) * | 2001-06-25 | 2004-08-24 | Angelsen Bjoern A. J. | Mechanism and system for 3-dimensional scanning of an ultrasound beam |
| JP4201311B2 (ja) * | 2002-03-12 | 2008-12-24 | 株式会社日立メディコ | 超音波診断装置 |
| US20040254466A1 (en) | 2003-06-16 | 2004-12-16 | James Boner | Apparatus and method for real time three-dimensional ultrasound imaging |
| US8235909B2 (en) | 2004-05-12 | 2012-08-07 | Guided Therapy Systems, L.L.C. | Method and system for controlled scanning, imaging and/or therapy |
| JP4555619B2 (ja) * | 2004-06-28 | 2010-10-06 | アロカ株式会社 | 超音波診断装置 |
| JP4868843B2 (ja) * | 2005-01-26 | 2012-02-01 | 株式会社東芝 | 超音波診断装置及び超音波診断装置の制御プログラム |
| EP1866871A4 (en) * | 2005-03-30 | 2012-01-04 | Worcester Polytech Inst | THREE-DIMENSIONAL FREEHAND ULTRASOUND DIAGNOSIS IMAGING WITH SENSORS FOR DETERMINING THE POSITION AND ANGLE |
| US20070239020A1 (en) | 2006-01-19 | 2007-10-11 | Kazuhiro Iinuma | Ultrasonography apparatus |
| US8038622B2 (en) | 2007-08-03 | 2011-10-18 | Innoscion, Llc | Wired and wireless remotely controlled ultrasonic transducer and imaging apparatus |
| JP5127371B2 (ja) * | 2007-08-31 | 2013-01-23 | キヤノン株式会社 | 超音波画像診断システム、及びその制御方法 |
| EP2219528A1 (en) * | 2007-12-13 | 2010-08-25 | Koninklijke Philips Electronics N.V. | Robotic ultrasound system with microadjustment and positioning control using feedback responsive to acquired image data |
| CN102112058B (zh) | 2008-08-01 | 2014-03-19 | 皇家飞利浦电子股份有限公司 | 三维成像超声探头 |
| US8876720B2 (en) * | 2008-08-05 | 2014-11-04 | Guardsman Scientific, Inc. | Peripheral ultrasound device providing pivotal adjustment of an imaging mechanism about two axes |
| US8235905B2 (en) * | 2009-05-26 | 2012-08-07 | General Electric Company | System and method for automatic ultrasound image optimization |
| KR101097607B1 (ko) * | 2010-01-12 | 2011-12-22 | 삼성메디슨 주식회사 | 스캔 각도, 스캔 깊이 및 스캔 속도를 설정하는 초음파 시스템 및 방법 |
| US8206307B2 (en) | 2010-03-10 | 2012-06-26 | Dbmedx Inc. | Ultrasound imaging probe and method |
| JP2011244931A (ja) * | 2010-05-25 | 2011-12-08 | Toshiba Corp | 超音波診断装置 |
| US20120065510A1 (en) * | 2010-09-09 | 2012-03-15 | General Electric Company | Ultrasound system and method for calculating quality-of-fit |
| JP6071282B2 (ja) | 2011-08-31 | 2017-02-01 | キヤノン株式会社 | 情報処理装置、超音波撮影装置および情報処理方法 |
| US20150011886A1 (en) | 2011-12-12 | 2015-01-08 | Koninklijke Philips N.V. | Automatic imaging plane selection for echocardiography |
| CN104797199B (zh) | 2012-11-20 | 2018-02-23 | 皇家飞利浦有限公司 | 用于实时胎儿心脏评估的标准平面的自动定位 |
| KR20140095848A (ko) * | 2013-01-25 | 2014-08-04 | 삼성전자주식회사 | 초음파 치료 방법 및 초음파 치료 시스템 |
| EP3080778B1 (en) * | 2013-12-09 | 2019-03-27 | Koninklijke Philips N.V. | Imaging view steering using model-based segmentation |
-
2015
- 2015-06-16 WO PCT/IB2015/054528 patent/WO2016001784A1/en not_active Ceased
- 2015-06-16 RU RU2017102716A patent/RU2017102716A/ru not_active Application Discontinuation
- 2015-06-16 EP EP15733917.7A patent/EP3160357B1/en active Active
- 2015-06-16 CN CN201580035937.5A patent/CN106470612B/zh active Active
- 2015-06-16 JP JP2016575446A patent/JP6517248B2/ja active Active
- 2015-06-16 US US15/319,956 patent/US11684343B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP3160357A1 (en) | 2017-05-03 |
| JP2017519579A (ja) | 2017-07-20 |
| CN106470612A (zh) | 2017-03-01 |
| US11684343B2 (en) | 2023-06-27 |
| US20170128045A1 (en) | 2017-05-11 |
| RU2017102716A (ru) | 2018-07-30 |
| WO2016001784A1 (en) | 2016-01-07 |
| CN106470612B (zh) | 2020-03-24 |
| RU2017102716A3 (enExample) | 2019-01-15 |
| EP3160357B1 (en) | 2019-05-01 |
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