JP6521707B2 - 穿刺プランニング装置及び穿刺システム - Google Patents

穿刺プランニング装置及び穿刺システム Download PDF

Info

Publication number
JP6521707B2
JP6521707B2 JP2015083663A JP2015083663A JP6521707B2 JP 6521707 B2 JP6521707 B2 JP 6521707B2 JP 2015083663 A JP2015083663 A JP 2015083663A JP 2015083663 A JP2015083663 A JP 2015083663A JP 6521707 B2 JP6521707 B2 JP 6521707B2
Authority
JP
Japan
Prior art keywords
puncture
simulation
puncture needle
planning
target
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
JP2015083663A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016027844A5 (cg-RX-API-DMAC7.html
JP2016027844A (ja
Inventor
清志 ▲高▼木
清志 ▲高▼木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
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 Canon Inc filed Critical Canon Inc
Priority to JP2015083663A priority Critical patent/JP6521707B2/ja
Priority to US14/791,602 priority patent/US10255247B2/en
Publication of JP2016027844A publication Critical patent/JP2016027844A/ja
Publication of JP2016027844A5 publication Critical patent/JP2016027844A5/ja
Priority to US16/281,171 priority patent/US11531726B2/en
Application granted granted Critical
Publication of JP6521707B2 publication Critical patent/JP6521707B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/30—Surgical robots
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/28—Details of apparatus provided for in groups G01R33/44 - G01R33/64
    • G01R33/285—Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR
    • G01R33/287—Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Mathematical Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Primary Health Care (AREA)
  • Epidemiology (AREA)
  • Software Systems (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Algebra (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
JP2015083663A 2014-07-10 2015-04-15 穿刺プランニング装置及び穿刺システム Active JP6521707B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015083663A JP6521707B2 (ja) 2014-07-10 2015-04-15 穿刺プランニング装置及び穿刺システム
US14/791,602 US10255247B2 (en) 2014-07-10 2015-07-06 Puncture planning apparatus and puncture system
US16/281,171 US11531726B2 (en) 2014-07-10 2019-02-21 Puncture planning apparatus and puncture system

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014142425 2014-07-10
JP2014142425 2014-07-10
JP2015083663A JP6521707B2 (ja) 2014-07-10 2015-04-15 穿刺プランニング装置及び穿刺システム

Publications (3)

Publication Number Publication Date
JP2016027844A JP2016027844A (ja) 2016-02-25
JP2016027844A5 JP2016027844A5 (cg-RX-API-DMAC7.html) 2018-02-08
JP6521707B2 true JP6521707B2 (ja) 2019-05-29

Family

ID=55066128

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015083663A Active JP6521707B2 (ja) 2014-07-10 2015-04-15 穿刺プランニング装置及び穿刺システム

Country Status (2)

Country Link
US (2) US10255247B2 (cg-RX-API-DMAC7.html)
JP (1) JP6521707B2 (cg-RX-API-DMAC7.html)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6521707B2 (ja) * 2014-07-10 2019-05-29 キヤノン株式会社 穿刺プランニング装置及び穿刺システム
JP6520478B2 (ja) * 2015-06-30 2019-05-29 株式会社デンソーウェーブ ロボットアームの操作システム
US9532845B1 (en) * 2015-08-11 2017-01-03 ITKR Software LLC Methods for facilitating individualized kinematically aligned total knee replacements and devices thereof
EP3525696B1 (en) * 2016-10-12 2025-09-10 Intuitive Surgical Operations, Inc. Surgical puncture device insertion systems
CN106725766A (zh) * 2017-01-05 2017-05-31 青岛市第三人民医院 超声介入穿刺装置及穿刺组件
WO2018207498A1 (ja) * 2017-05-09 2018-11-15 国立大学法人 岡山大学 穿刺ロボット及び穿刺制御用プログラム
JP2018192246A (ja) * 2017-05-16 2018-12-06 キヤノンメディカルシステムズ株式会社 超音波診断装置および超音波診断支援プログラム
US11317972B2 (en) 2018-03-17 2022-05-03 Canon U.S.A., Inc. Method for virtual device positioning on skin surface in 3D medical image data
CN108665528A (zh) * 2018-04-12 2018-10-16 四川旭普信息产业发展有限公司 航空摄影数字建模分区提取及转换算法
CN108784839A (zh) * 2018-06-20 2018-11-13 王�忠 一种外周神经阻滞和椎管内神经阻滞的辅助机器人装置
CN109044498B (zh) * 2018-06-20 2021-03-05 复旦大学附属中山医院 一种动脉穿刺系统和确定动脉穿刺位置的方法
CN111012514A (zh) * 2019-12-28 2020-04-17 天机医用机器人技术(清远)有限公司 一种带有导向功能的穿刺机械臂
CN112370162B (zh) * 2020-10-20 2022-06-03 哈尔滨医科大学 一种通过多重约束建立图像模型穿刺消融路径的方法
CN113509270B (zh) * 2021-07-09 2022-05-24 武汉联影智融医疗科技有限公司 末端工具运动引导方法、系统和手术机器人
CN114376685B (zh) * 2021-07-20 2023-08-22 牡丹江医学院 一种椎管内穿刺超声探头
CN114224448B (zh) * 2021-12-21 2023-11-10 武汉大学 穿刺路径规划装置、设备和计算机可读存储介质
CN114305663B (zh) * 2022-01-19 2023-09-26 深圳臣诺医疗器械有限公司 准确确定手术刀切口的方法、装置、设备及介质
CN114515195B (zh) * 2022-03-18 2023-09-15 华中科技大学同济医学院附属协和医院 一种肺穿刺手术机器人
CN114965118B (zh) * 2022-04-13 2023-08-22 深圳市药品检验研究院（深圳市医疗器械检测中心） 一种皮下植入式给药测试装置
CN114886563A (zh) * 2022-04-21 2022-08-12 无锡祥生医疗科技股份有限公司 用于乳腺穿刺的机器人导航方法
WO2024050729A1 (en) * 2022-09-07 2024-03-14 Shanghai Flexiv Robotics Technology Co., Ltd. Robot teleoperation system and method
CN115462885B (zh) * 2022-10-24 2025-12-19 上海导向医疗系统有限公司 一种经皮穿刺方法及系统
CN115444523B (zh) * 2022-10-24 2025-08-22 上海导向医疗系统有限公司 一种自动穿刺控制方法及系统
CN115919459A (zh) * 2022-11-23 2023-04-07 无锡学院 一种基于矫正力的前列腺粒子植入精准穿刺方法
CN116052864B (zh) * 2023-02-03 2023-10-20 广东工业大学 基于数字孪生的穿刺手术机器人虚拟测试环境构建方法
CN116077155B (zh) * 2023-04-06 2023-06-27 深圳惟德精准医疗科技有限公司 基于光学追踪设备和机械臂的手术导航方法及相关装置
CN121038732A (zh) * 2023-07-03 2025-11-28 深圳华大智造云影医疗科技有限公司 远程介入机器人系统、控制方法及设备
CN117392976A (zh) * 2023-09-07 2024-01-12 珠海横乐医疗科技有限公司 穿刺机器人语音操控系统、操控方法及穿刺机器人系统
CN119326503B (zh) * 2024-10-17 2025-05-09 北京邮电大学 一种基于分段靶向修正的机器人定位控制方法及装置
CN119184847B (zh) * 2024-10-17 2025-04-04 北京邮电大学 基于穿刺针弯曲模型的机器人运动参数确定方法及装置
CN119454193B (zh) * 2025-01-16 2025-03-18 川北医学院附属医院 一种穿刺针的弯折角优化方法

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3032320A (en) 1960-04-07 1962-05-01 Simplex Wire & Cable Co Buoyant cable bight puller
JPH06126679A (ja) * 1991-01-11 1994-05-10 Yaskawa Electric Corp 縫製作業ロボット
JPH10334275A (ja) * 1997-05-29 1998-12-18 Canon Inc 仮想現実方法及び装置並びに記憶媒体
DE10009166A1 (de) * 2000-02-26 2001-08-30 Philips Corp Intellectual Pty Verfahren zur Lokalisierung von Objekten in der interventionellen Radiologie
AU2003237089B2 (en) * 2002-04-22 2009-01-22 The Johns Hopkins University Apparatus for insertion of a medical device during a medical imaging process
JP4528136B2 (ja) * 2005-01-11 2010-08-18 株式会社日立製作所 手術装置
US20100312129A1 (en) * 2005-01-26 2010-12-09 Schecter Stuart O Cardiovascular haptic handle system
JP4390146B2 (ja) * 2005-03-28 2009-12-24 学校法人早稲田大学 穿刺制御装置、穿刺ロボット及び穿刺制御用プログラム
US7822458B2 (en) * 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
US8417491B2 (en) * 2005-10-11 2013-04-09 Koninklijke Philips Electronics N.V. 3D tool path planning, simulation and control system
EP2384687B1 (en) * 2005-12-27 2016-05-11 Olympus Corporation Encapsulated medical device guidance system
JP4757021B2 (ja) * 2005-12-28 2011-08-24 オリンパス株式会社 位置検出システム
CA2646363C (en) * 2006-03-14 2015-07-21 The Johns Hopkins University Apparatus for insertion of a medical device within a body during a medical imaging process and devices and methods related thereto
CA2654343C (en) * 2006-06-05 2015-02-10 Technion Research & Development Foundation Ltd. Controlled steering of a flexible needle
JP5399253B2 (ja) * 2007-09-26 2014-01-29 オリンパスメディカルシステムズ株式会社 被検体内導入システム
JP5105330B2 (ja) * 2008-03-24 2012-12-26 学校法人早稲田大学 穿刺プランニング支援装置及びそのプログラム、並びに刺入条件判定方法
US9396669B2 (en) * 2008-06-16 2016-07-19 Microsoft Technology Licensing, Llc Surgical procedure capture, modelling, and editing interactive playback
US8632468B2 (en) * 2009-02-25 2014-01-21 Koninklijke Philips N.V. Method, system and devices for transjugular intrahepatic portosystemic shunt (TIPS) procedures
JP5761900B2 (ja) * 2009-06-08 2015-08-12 三菱プレシジョン株式会社 手術シミュレーション用モデルの生成方法、手術シミュレーション方法、及び手術シミュレータ
EP2497077A1 (en) * 2009-11-02 2012-09-12 Bangor University Haptic needle as part of medical training simulator.
JP5392770B2 (ja) * 2009-12-16 2014-01-22 独立行政法人産業技術総合研究所 針状手術器具の刺入支援装置
FR2959409B1 (fr) * 2010-05-03 2012-06-29 Gen Electric Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede
WO2012046182A1 (en) * 2010-10-08 2012-04-12 Koninklijke Philips Electronics N.V. Endoscopy-guided deployment of vessel punch
JP6120497B2 (ja) * 2012-06-26 2017-04-26 キヤノン株式会社 穿刺制御装置及び方法
JP6521707B2 (ja) * 2014-07-10 2019-05-29 キヤノン株式会社 穿刺プランニング装置及び穿刺システム
US10369045B2 (en) * 2014-07-29 2019-08-06 The Johns Hopkins University Micromanipulation systems and methods
US10803662B2 (en) * 2015-05-22 2020-10-13 The University Of North Carolina At Chapel Hill Methods, systems, and computer readable media for transoral lung access

Also Published As

Publication number Publication date
US20190188234A1 (en) 2019-06-20
JP2016027844A (ja) 2016-02-25
US20160008082A1 (en) 2016-01-14
US10255247B2 (en) 2019-04-09
US11531726B2 (en) 2022-12-20

Similar Documents

Publication Publication Date Title
JP6521707B2 (ja) 穿刺プランニング装置及び穿刺システム
JP6120497B2 (ja) 穿刺制御装置及び方法
US20250195841A1 (en) System and method for underactuated control of insertion path for asymmetric tip needles
JP5303558B2 (ja) ロボット制御カテーテルおよびその較正方法
US10874468B2 (en) Robotic catheter system
JP5103658B2 (ja) 柔軟な針の制御された操作
EP3473202B1 (en) Robotic system for minimally invasive surgery
US20180055577A1 (en) Motion execution of a robotic system
US20160213884A1 (en) Adaptive catheter control for planar user interface
US20110066160A1 (en) Systems and methods for inserting steerable arrays into anatomical structures
CN109069803B (zh) 导管力控制装置
JP4390146B2 (ja) 穿刺制御装置、穿刺ロボット及び穿刺制御用プログラム
JP5105330B2 (ja) 穿刺プランニング支援装置及びそのプログラム、並びに刺入条件判定方法
CN112804931B (zh) 用于可转向装置的运动控制的系统和方法
JP2018110747A (ja) 手術支援装置、その制御方法、プログラム並びに手術支援システム
Loschak et al. Predictive filtering in motion compensation with steerable cardiac catheters
JP6388686B2 (ja) 手術支援装置、その制御方法、プログラム並びに手術支援システム
Sharma et al. Towards an autonomous minimally invasive spinal fixation surgery using a concentric tube steerable drilling robot
CN116098707A (zh) 无线电磁波引导的远程手术系统
Abdoun et al. A tape spring steerable needle capable of sharp turns
US20250177071A1 (en) Surgical robot and controller for surgical robot
Ott et al. Simultaneous physiological motion cancellation and depth adaptation in flexible endoscopy
CN120753786A (zh) 一种用于针刀机器人的运动轨迹规划系统
CN121177022A (zh) 器械通道位置检测装置及手术机器人装置
D'ETTORRE Automated grasping of suturing needle for robotic surgical assistance

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171219

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171219

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20181002

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180928

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20181116

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181203

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190108

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190307

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: 20190326

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190423

R151 Written notification of patent or utility model registration

Ref document number: 6521707

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151