JP6960921B2 - 投影データセットの提供 - Google Patents
投影データセットの提供 Download PDFInfo
- Publication number
- JP6960921B2 JP6960921B2 JP2018532308A JP2018532308A JP6960921B2 JP 6960921 B2 JP6960921 B2 JP 6960921B2 JP 2018532308 A JP2018532308 A JP 2018532308A JP 2018532308 A JP2018532308 A JP 2018532308A JP 6960921 B2 JP6960921 B2 JP 6960921B2
- Authority
- JP
- Japan
- Prior art keywords
- subject
- image
- dataset
- data set
- projection
- 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
Links
- 238000000034 method Methods 0.000 claims description 38
- 238000001514 detection method Methods 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 31
- 210000003484 anatomy Anatomy 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 12
- 230000001131 transforming effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 53
- 230000009466 transformation Effects 0.000 description 22
- 230000000241 respiratory effect Effects 0.000 description 19
- 238000003384 imaging method Methods 0.000 description 17
- 238000006243 chemical reaction Methods 0.000 description 12
- 238000001356 surgical procedure Methods 0.000 description 10
- 238000013152 interventional procedure Methods 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 6
- 230000001225 therapeutic effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000012634 optical imaging Methods 0.000 description 4
- 210000001835 viscera Anatomy 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 238000002059 diagnostic imaging Methods 0.000 description 3
- 238000002595 magnetic resonance imaging Methods 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000000844 transformation Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 210000000709 aorta Anatomy 0.000 description 1
- 210000001765 aortic valve Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000005248 left atrial appendage Anatomy 0.000 description 1
- 210000005246 left atrium Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011477 surgical intervention Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000003936 working memory Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
- G06T7/0014—Biomedical image inspection using an image reference approach
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- 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
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00699—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement caused by respiration, e.g. by triggering
-
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/366—Correlation of different images or relation of image positions in respect to the body using projection of images directly onto the body
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
- A61B2090/3764—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT] with a rotating C-arm having a cone beam emitting source
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- General Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Theoretical Computer Science (AREA)
- Biophysics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Quality & Reliability (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Description
a)対象者の少なくとも対象領域のその時点の空間的描写を表す参照データを受信するステップと;
b)参照データに基づき、対象者の3Dトモグラフィック画像を表す所定のベースデータセットを変換するステップであって、それにより、対象者の少なくとも対象領域のその時点の空間的な解剖学的関係を示す変換された3Dトモグラフィック画像を表す作業用画像データセットが得られる、ステップと;
c)作業用データセットをセグメント化するステップであって、それにより、対象者の対象領域を表す投影データセットが得られるステップと;
d)更なる目的のために投影データセットを提供するステップと
を有する。
Claims (13)
- 記憶手段と、入力インターフェースと、処理ユニットと、出力インターフェースとを備える、投影データセットを提供するためのデバイスであって、
前記記憶手段が、対象者の3Dトモグラフィック画像を表す所定のベースデータセットを記憶し、前記入力インターフェースが、前記対象者の少なくとも対象領域のその時点の空間的描写を表す参照データを受信し、前記処理ユニットが、前記参照データを前記所定のベースデータセットに位置合わせし、前記処理ユニットが、前記参照データ及び前記位置合わせの結果に基づき、前記所定のベースデータセットを変換し、それにより、前記対象者の少なくとも対象領域のその時点の空間的な解剖学的関係を示す変換された3Dトモグラフィック画像を表す作業用データセットが得られ、前記処理ユニットは、前記作業用データセットをセグメント化し、それにより、前記対象者の対象領域を表す投影データセットが得られ、前記出力インターフェースが更なる目的のために前記投影データセットを提供する、デバイス。 - 前記処理ユニットが、前記作業用データセットをセグメント化し、その結果として、得られる投影データセットが、前記対象者の対象領域の解剖学的構造及び/又は前記対象者の対象領域の表面のところのエントランスポイントを表す、請求項1に記載のデバイス。
- 前記入力インターフェースが、予め定められた時間間隔で又は継続的に更新された参照データを受信する、請求項1又は2に記載のデバイス。
- 前記参照データが参照画像データによって形成される、請求項1乃至3の何れか一項に記載のデバイス。
- 前記参照データがトモグラフィック参照画像データによって形成される、請求項1乃至3の何れか一項に記載のデバイス。
- 前記記憶手段が、前記対象者の少なくとも対象領域の対応する空間的描写を各々が表す複数の画像データセットを記憶し、前記処理ユニットが、前記参照データに基づき、参照画像データセットとして前記複数の画像データセットのうちの1つの画像データセットを選択し、前記処理ユニットが、前記参照画像データセットに基づき、所定のベースデータセットを変換し、それにより、前記対象者の少なくとも対象領域のその時点の空間的な解剖学的関係を示す変換された3Dトモグラフィック画像を表す作業用データセットが得られる、請求項1乃至5の何れか一項に記載のデバイス。
- 検出手段と、光学投影手段と、請求項1乃至6の何れか一項に記載のデバイスとを備える、案内画像を対象者の上に投影するためのシステムであって、
前記検出手段が、前記対象者を検出し、それにより、前記対象者の少なくとも対象領域のその時点の空間的描写を表す参照データが得られ、前記検出手段が前記参照データを転送するために前記デバイスの前記入力インターフェースに接続され、前記デバイスの前記出力インターフェースが前記投影データセットを転送するために前記光学投影手段に接続され、前記光学投影手段が、前記投影データセットに基づき、前記対象者の上に案内画像を投影する、システム。 - 前記検出手段が、少なくとも1つの光学カメラ装置を備える、請求項7に記載のシステム。
- 前記検出手段が、少なくとも1つのX線検出装置を備える、請求項7又は8に記載のシステム。
- 前記検出手段が、少なくとも1つの超音波検出装置を備える、請求項7乃至9の何れか一項に記載のシステム。
- 投影データセットを提供するための方法であって、前記方法は、
a)対象者の少なくとも対象領域のその時点の空間的描写を表す参照データを受信するステップと、
b)前記参照データに基づき、前記対象者の3Dトモグラフィック画像を表す所定のベースデータセットを変換するステップであって、それにより、前記対象者の少なくとも対象領域のその時点の空間的な解剖学的関係を示す変換された3Dトモグラフィック画像を表す作業用画像データセットが得られる、ステップと、
c)前記作業用画像データセットをセグメント化するステップであって、それにより、前記対象者の対象領域を表す投影データセットが得られるステップと、
d)更なる目的のために投影データセットを提供するステップとを有する、
方法。 - 処理ユニットによって実行されるとき、請求項11に記載の方法のステップを実施する、請求項1乃至6の何れか一項に記載のデバイス又は請求項7乃至10の何れか一項に記載のシステムを制御するための、コンピュータプログラム。
- 請求項12に記載のコンピュータプログラムを記憶した、コンピュータ可読媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15201851 | 2015-12-22 | ||
EP15201851.1 | 2015-12-22 | ||
PCT/EP2016/082479 WO2017109130A1 (en) | 2015-12-22 | 2016-12-22 | Providing a projection data set |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019505271A JP2019505271A (ja) | 2019-02-28 |
JP6960921B2 true JP6960921B2 (ja) | 2021-11-05 |
Family
ID=55023978
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018532308A Active JP6960921B2 (ja) | 2015-12-22 | 2016-12-22 | 投影データセットの提供 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10769787B2 (ja) |
EP (1) | EP3393389A1 (ja) |
JP (1) | JP6960921B2 (ja) |
CN (1) | CN108430376B (ja) |
WO (1) | WO2017109130A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019228530A1 (en) * | 2018-05-31 | 2019-12-05 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controllinig an x-ray imaging device |
EP3586748B1 (de) * | 2018-06-26 | 2020-06-24 | Siemens Healthcare GmbH | Verfahren zum betreiben eines medizinischen bildgebungsgeräts sowie bildgebungsgerät |
EP3616621B1 (de) * | 2018-08-31 | 2023-03-15 | Siemens Healthcare GmbH | Verfahren zur 3d dsa und vorrichtung |
DE102020207753A1 (de) | 2020-06-23 | 2021-12-23 | Siemens Healthcare Gmbh | Optimierung der Lagerung eines Patienten auf einer Patientenliege für die medizinische Bildgebung |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000084096A (ja) * | 1998-09-14 | 2000-03-28 | Sumitomo Heavy Ind Ltd | 位置合わせ方法及び装置 |
US6314311B1 (en) * | 1999-07-28 | 2001-11-06 | Picker International, Inc. | Movable mirror laser registration system |
US7853308B2 (en) | 2004-02-17 | 2010-12-14 | Siemens Medical Solutions Usa, Inc. | System and method for patient positioning for radiotherapy in the presence of respiratory motion |
DE102006037778B4 (de) * | 2006-08-11 | 2011-02-10 | Siemens Ag | Anordnung und Verfahren zur Bewegungskompensation von Patienten während Eingriffen |
WO2008093517A1 (ja) * | 2007-01-31 | 2008-08-07 | National University Corporation Hamamatsu University School Of Medicine | 手術支援情報表示装置、手術支援情報表示方法及び手術支援情報表示プログラム |
CN106943153B (zh) * | 2008-12-11 | 2021-01-22 | 皇家飞利浦电子股份有限公司 | 用于产生患者内部和外部图像的系统和方法 |
WO2012169990A2 (en) | 2010-05-04 | 2012-12-13 | Pathfinder Therapeutics, Inc. | System and method for abdominal surface matching using pseudo-features |
US9520072B2 (en) * | 2011-09-21 | 2016-12-13 | University Of South Florida | Systems and methods for projecting images onto an object |
CA2851659A1 (en) * | 2011-10-09 | 2013-04-18 | Clear Guide Medical, Llc | Interventional in-situ image guidance by fusing ultrasound and video |
WO2014013393A2 (en) * | 2012-07-17 | 2014-01-23 | Koninklijke Philips N.V. | Imaging system and method for enabling instrument guidance |
US9861295B2 (en) * | 2013-05-21 | 2018-01-09 | Autonomic Technologies, Inc. | System and method for surgical planning and navigation to facilitate placement of a medical device within a target region of a patient |
NL2012416B1 (en) * | 2014-03-12 | 2015-11-26 | Stichting Katholieke Univ | Anatomical Image Projection System. |
DE102014206004A1 (de) * | 2014-03-31 | 2015-10-01 | Siemens Aktiengesellschaft | Triangulationsbasierte Tiefen- und Oberflächen-Visualisierung |
WO2015164402A1 (en) * | 2014-04-22 | 2015-10-29 | Surgerati, Llc | Intra-operative medical image viewing system and method |
US10806520B2 (en) * | 2014-05-23 | 2020-10-20 | Koninklijke Philips N.V. | Imaging apparatus for imaging a first object within a second object |
-
2016
- 2016-12-22 EP EP16825433.2A patent/EP3393389A1/en not_active Withdrawn
- 2016-12-22 US US16/063,920 patent/US10769787B2/en active Active
- 2016-12-22 CN CN201680075825.7A patent/CN108430376B/zh active Active
- 2016-12-22 JP JP2018532308A patent/JP6960921B2/ja active Active
- 2016-12-22 WO PCT/EP2016/082479 patent/WO2017109130A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US10769787B2 (en) | 2020-09-08 |
US20190005646A1 (en) | 2019-01-03 |
CN108430376B (zh) | 2022-03-29 |
WO2017109130A1 (en) | 2017-06-29 |
JP2019505271A (ja) | 2019-02-28 |
CN108430376A (zh) | 2018-08-21 |
EP3393389A1 (en) | 2018-10-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11164324B2 (en) | GPU-based system for performing 2D-3D deformable registration of a body organ using multiple 2D fluoroscopic views | |
US9652845B2 (en) | Surgical assistance planning method using lung motion analysis | |
US9265468B2 (en) | Fluoroscopy-based surgical device tracking method | |
US8532352B2 (en) | Method and system for intraoperative guidance using physiological image fusion | |
JP6293495B2 (ja) | 動いている器官の標的エリア内のオブジェクトを追跡するための方法および装置 | |
US9687204B2 (en) | Method and system for registration of ultrasound and physiological models to X-ray fluoroscopic images | |
US20170084036A1 (en) | Registration of video camera with medical imaging | |
JP7337556B2 (ja) | 医用画像処理装置、x線診断装置及び医用画像処理方法 | |
AU2015238800B2 (en) | Real-time simulation of fluoroscopic images | |
JP6960921B2 (ja) | 投影データセットの提供 | |
JP2015506188A (ja) | 容積測定モダリティからの構造の未較正内視鏡のビデオへのオーバレイ及び動き補償 | |
CN110301883B (zh) | 用于导航管状网络的基于图像的向导 | |
EP4287120A1 (en) | Guidance during medical procedures | |
CN111657978A (zh) | 解剖体表示与实况图像的配对 | |
WO2023232492A1 (en) | Guidance during medical procedures | |
JP7537432B2 (ja) | 画像ベースの装置追跡 | |
EP3931799B1 (en) | Interventional device tracking | |
EP4128145B1 (en) | Combining angiographic information with fluoroscopic images | |
CN118234422A (zh) | 用于经皮手术期间的配准和跟踪的方法和装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20191220 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20201125 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210108 |
|
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: 20210913 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20211012 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6960921 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |