JP6975131B2 - ボリュームイメージの対話型平面スライスからの内視鏡誘導 - Google Patents

ボリュームイメージの対話型平面スライスからの内視鏡誘導 Download PDF

Info

Publication number
JP6975131B2
JP6975131B2 JP2018502666A JP2018502666A JP6975131B2 JP 6975131 B2 JP6975131 B2 JP 6975131B2 JP 2018502666 A JP2018502666 A JP 2018502666A JP 2018502666 A JP2018502666 A JP 2018502666A JP 6975131 B2 JP6975131 B2 JP 6975131B2
Authority
JP
Japan
Prior art keywords
endoscope
volume image
user
interactive
endoscopic
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
JP2018502666A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018521774A5 (enExample
JP2018521774A (ja
Inventor
アリエ レイブ レインステイン
アレクサンドラ ポポヴィッチ
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of JP2018521774A publication Critical patent/JP2018521774A/ja
Publication of JP2018521774A5 publication Critical patent/JP2018521774A5/ja
Application granted granted Critical
Publication of JP6975131B2 publication Critical patent/JP6975131B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/0004—Operational features of endoscopes provided with input arrangements for the user for electronic operation
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • 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
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • G06T15/10—Geometric effects
    • G06T15/30—Clipping
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06T7/37—Determination of transform parameters for the alignment of images, i.e. image registration using transform domain methods
    • 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
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
    • 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
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • 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
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another 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
    • G06T2207/10068—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
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • 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
    • G06T2207/10072—Tomographic images
    • G06T2207/10088—Magnetic resonance imaging [MRI]
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Gynecology & Obstetrics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Endoscopes (AREA)
JP2018502666A 2015-07-23 2016-07-07 ボリュームイメージの対話型平面スライスからの内視鏡誘導 Active JP6975131B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562195810P 2015-07-23 2015-07-23
US62/195,810 2015-07-23
PCT/IB2016/054066 WO2017013521A1 (en) 2015-07-23 2016-07-07 Endoscope guidance from interactive planar slices of a volume image

Publications (3)

Publication Number Publication Date
JP2018521774A JP2018521774A (ja) 2018-08-09
JP2018521774A5 JP2018521774A5 (enExample) 2019-08-15
JP6975131B2 true JP6975131B2 (ja) 2021-12-01

Family

ID=56507627

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018502666A Active JP6975131B2 (ja) 2015-07-23 2016-07-07 ボリュームイメージの対話型平面スライスからの内視鏡誘導

Country Status (5)

Country Link
US (1) US11596292B2 (enExample)
EP (1) EP3324819A1 (enExample)
JP (1) JP6975131B2 (enExample)
CN (1) CN107847111B (enExample)
WO (1) WO2017013521A1 (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015124388A1 (en) * 2014-02-19 2015-08-27 Koninklijke Philips N.V. Motion adaptive visualization in medical 4d imaging
CN107689045B (zh) * 2017-09-06 2021-06-29 艾瑞迈迪医疗科技（北京）有限公司 内窥镜微创手术导航的图像显示方法、装置及系统
CN110989884A (zh) * 2019-11-29 2020-04-10 北京市商汤科技开发有限公司 图像定位的操作显示方法及装置、电子设备和存储介质
EP4172742B1 (en) * 2020-06-30 2025-06-18 Intuitive Surgical Operations, Inc. Systems and methods for tag-based instrument control
US12161421B2 (en) * 2021-07-30 2024-12-10 Medos International Sarl Imaging during a medical procedure
US12564471B2 (en) * 2021-08-11 2026-03-03 Terumo Cardiovascular Systems Corporation Augmented-reality endoscopic vessel harvesting
US20250025019A1 (en) * 2023-07-20 2025-01-23 Covidien Lp Video laryngoscope with automatic zoom effects

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5970499A (en) * 1997-04-11 1999-10-19 Smith; Kurt R. Method and apparatus for producing and accessing composite data
US6348058B1 (en) * 1997-12-12 2002-02-19 Surgical Navigation Technologies, Inc. Image guided spinal surgery guide, system, and method for use thereof
US7300398B2 (en) * 2003-08-14 2007-11-27 Siemens Medical Solutions Usa, Inc. Method and apparatus for registration of virtual endoscopic images
US8090164B2 (en) * 2003-08-25 2012-01-03 The University Of North Carolina At Chapel Hill Systems, methods, and computer program products for analysis of vessel attributes for diagnosis, disease staging, and surgical planning
JP3847744B2 (ja) * 2003-11-04 2006-11-22 オリンパス株式会社 挿入支援システム
JP4343723B2 (ja) * 2004-01-30 2009-10-14 オリンパス株式会社 挿入支援システム
DE102004011154B3 (de) * 2004-03-08 2005-11-24 Siemens Ag Verfahren zur Registrierung einer Folge von 2D-Bilddaten eines Hohlraumorgans mit 3D-Bilddaten des Hohlraumorgans
WO2006118915A2 (en) * 2005-04-29 2006-11-09 Vanderbilt University System and methods of using image-guidance for providing an access to a cochlear of a living subject
US9314222B2 (en) * 2005-07-07 2016-04-19 Stereotaxis, Inc. Operation of a remote medical navigation system using ultrasound image
US20070127793A1 (en) * 2005-11-23 2007-06-07 Beckett Bob L Real-time interactive data analysis management tool
US20080292164A1 (en) * 2006-08-29 2008-11-27 Siemens Corporate Research, Inc. System and method for coregistration and analysis of non-concurrent diffuse optical and magnetic resonance breast images
US8248414B2 (en) * 2006-09-18 2012-08-21 Stryker Corporation Multi-dimensional navigation of endoscopic video
US8098911B2 (en) * 2006-12-05 2012-01-17 Siemens Aktiengesellschaft Method and system for registration of contrast-enhanced images with volume-preserving constraint
US20080243142A1 (en) 2007-02-20 2008-10-02 Gildenberg Philip L Videotactic and audiotactic assisted surgical methods and procedures
US20080317204A1 (en) * 2007-03-16 2008-12-25 Cyberheart, Inc. Radiation treatment planning and delivery for moving targets in the heart
US8315689B2 (en) * 2007-09-24 2012-11-20 MRI Interventions, Inc. MRI surgical systems for real-time visualizations using MRI image data and predefined data of surgical tools
US9310985B2 (en) * 2008-05-15 2016-04-12 Boston Scientific Neuromodulation Corporation System and method for determining target stimulation volumes
RU2011120186A (ru) * 2008-10-20 2012-11-27 Конинклейке Филипс Электроникс, Н.В. Способ и система локализации на основе изображений
US8355553B2 (en) * 2008-11-22 2013-01-15 General Electric Company Systems, apparatus and processes for automated medical image segmentation using a statistical model
EP2429400B1 (en) * 2009-05-14 2014-01-01 University Health Network Quantitative endoscopy
CN102802519B (zh) * 2009-06-25 2014-12-31 株式会社日立医疗器械 医用图像摄影装置
US9308050B2 (en) * 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
US20120249546A1 (en) * 2011-04-04 2012-10-04 Vida Diagnostics, Inc. Methods and systems for visualization and analysis of sublobar regions of the lung
US9330490B2 (en) * 2011-04-29 2016-05-03 University Health Network Methods and systems for visualization of 3D parametric data during 2D imaging
US9123155B2 (en) 2011-08-09 2015-09-01 Covidien Lp Apparatus and method for using augmented reality vision system in surgical procedures
EP2747695B1 (en) * 2011-10-26 2017-09-13 Koninklijke Philips N.V. Endoscopic registration of vessel tree images
EP2811889B1 (en) * 2012-02-06 2018-11-28 Koninklijke Philips N.V. Invisible bifurcation detection within vessel tree images
US11452464B2 (en) * 2012-04-19 2022-09-27 Koninklijke Philips N.V. Guidance tools to manually steer endoscope using pre-operative and intra-operative 3D images
US8908943B2 (en) * 2012-05-22 2014-12-09 Orca Health, Inc. Personalized anatomical diagnostics and simulations
EP2861175A2 (en) * 2012-06-15 2015-04-22 Koninklijke Philips N.V. Guided incision planning for endoscopic minimally invasive surgery
US20140022283A1 (en) * 2012-07-20 2014-01-23 University Health Network Augmented reality apparatus
US9387083B2 (en) * 2013-01-30 2016-07-12 Conformis, Inc. Acquiring and utilizing kinematic information for patient-adapted implants, tools and surgical procedures
US20140276001A1 (en) * 2013-03-15 2014-09-18 Queen's University At Kingston Device and Method for Image-Guided Surgery
RU2015132626A (ru) * 2013-03-15 2017-04-25 Слоун-Кеттеринг Инститьют Фо Кэнсэ Рисерч Мультимодальные наночастицы на основе диоксида кремния
US9459770B2 (en) * 2013-03-15 2016-10-04 Covidien Lp Pathway planning system and method
US11284777B2 (en) * 2013-05-09 2022-03-29 Koninklijke Philips N.V. Robotic control of an endoscope from anatomical features

Also Published As

Publication number Publication date
WO2017013521A1 (en) 2017-01-26
EP3324819A1 (en) 2018-05-30
CN107847111A (zh) 2018-03-27
US11596292B2 (en) 2023-03-07
CN107847111B (zh) 2022-04-08
US20180214214A1 (en) 2018-08-02
JP2018521774A (ja) 2018-08-09

Similar Documents

Publication Publication Date Title
CN104244800B (zh) 使用手术前和手术中的3d图像来人工操纵内窥镜的引导工具
US11413099B2 (en) System, controller and method using virtual reality device for robotic surgery
JP6982605B2 (ja) 外科用器具可視性のロボット制御
JP6629186B2 (ja) 解剖学的特徴からの内視鏡のロボット制御
US10835344B2 (en) Display of preoperative and intraoperative images
CN104411226B (zh) 使用以机器人的方式操纵的内窥镜的增强的血管可视化
CN107847111B (zh) 根据体积图像的交互式平面切片的内窥镜引导
JP6122875B2 (ja) 血管ツリー画像内での見えない分岐部の検出
Abdurahiman et al. Human-computer interfacing for control of angulated scopes in robotic scope assistant systems
KR20250050920A (ko) 의료 절차에서 해부학적 채널을 내비게이팅하기 위한 사용자 인터페이스

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190704

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190704

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200630

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200804

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201029

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210412

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210629

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: 20211008

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20211105

R150 Certificate of patent or registration of utility model

Ref document number: 6975131

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