JP7355407B2 - 椎弓根スクリューの固定プランニングシステム及び方法 - Google Patents
椎弓根スクリューの固定プランニングシステム及び方法 Download PDFInfo
- Publication number
- JP7355407B2 JP7355407B2 JP2021554669A JP2021554669A JP7355407B2 JP 7355407 B2 JP7355407 B2 JP 7355407B2 JP 2021554669 A JP2021554669 A JP 2021554669A JP 2021554669 A JP2021554669 A JP 2021554669A JP 7355407 B2 JP7355407 B2 JP 7355407B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- probe
- pedicle screw
- point
- entry point
- 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
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
-
- 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
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/12—Devices for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
- A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
- A61B17/7082—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
-
- 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
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/42—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis
- A61B6/4275—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis using a detector unit almost surrounding the patient, e.g. more than 180°
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/505—Clinical applications involving diagnosis of bone
-
- 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
-
- 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
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking 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
- A61B34/20—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
- 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]
- 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
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
Description
20:挿入経路提供部
30:光学追跡装置
40:整合部
50:ガイド装置
60:スクリュー決定部
Claims (3)
- 椎弓根スクリューの固定プランニングシステムにおいて、
患者の脊椎の画像を撮影するC-armと、
前記C-armを介して取得したAP(Anterior-Posterior)の2D画像及びLL(Lateral-Lateral)の2D画像上で椎弓根スクリューのエントリポイント及び挿入エンドポイントを提供する挿入経路提供部と、
基準座標系を基に、前記エントリポイント及び前記挿入エンドポイントの空間座標を算出する整合部と、
前記エントリポイント及び前記挿入エンドポイントの空間座標を基に、前記椎弓根スクリューの挿入姿勢を決定し、前記挿入姿勢に応じて前記エントリポイントに向かって、プローブの挿入をガイドするためのガイド装置と、
前記プローブの挿入力を伝達するエンドエフェクタが取り付けられた光学式マーカーが接続された前記プローブの位置を追跡する光学追跡装置と、
前記光学追跡装置を通して、前記プローブが挿入されるに伴い、前記プローブの末端が骨に触れ合う始点の座標を、前記エンドエフェクタにより伝達された前記プローブの挿入力及び前記光学追跡装置により追跡された前記プローブの位置に基づいて取得し、前記挿入エンドポイントの座標と前記始点の座標との間の距離を算出して椎弓根スクリューの長さの条件を決定するスクリュー決定部を含むことを特徴とする椎弓根スクリューの固定プランニングシステム。 - 前記整合部は、前記プローブの位置が整合される前記APの2D画像及び前記LLの2D画像上のピクセルを決定し、
前記挿入経路提供部は、前記整合されたピクセルに、前記プローブの投影画像を表示することを特徴とする請求項1に記載の椎弓根スクリューの固定プランニングシステム。 - 前記挿入経路提供部は施術者が前記APの2D画像及び前記LLの2D画像上に前記エントリポイント及び前記挿入エンドポイントを選択できるユーザーインターフェイスを含むことを特徴とする請求項1乃至請求項2の中のいずれか一項に記載の椎弓根スクリューの固定プランニングシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023100449A JP2023116743A (ja) | 2019-03-13 | 2023-06-20 | 椎弓根スクリューの固定プランニングシステム及び方法 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020190028981A KR102166149B1 (ko) | 2019-03-13 | 2019-03-13 | 페디클 스크류 고정 플래닝 시스템 및 방법 |
KR10-2019-0028981 | 2019-03-13 | ||
PCT/KR2020/003565 WO2020185049A2 (ko) | 2019-03-13 | 2020-03-13 | 페디클 스크류 고정 플래닝 시스템 및 방법 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023100449A Division JP2023116743A (ja) | 2019-03-13 | 2023-06-20 | 椎弓根スクリューの固定プランニングシステム及び方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022524607A JP2022524607A (ja) | 2022-05-09 |
JP7355407B2 true JP7355407B2 (ja) | 2023-10-03 |
Family
ID=72426432
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021554669A Active JP7355407B2 (ja) | 2019-03-13 | 2020-03-13 | 椎弓根スクリューの固定プランニングシステム及び方法 |
JP2023100449A Pending JP2023116743A (ja) | 2019-03-13 | 2023-06-20 | 椎弓根スクリューの固定プランニングシステム及び方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023100449A Pending JP2023116743A (ja) | 2019-03-13 | 2023-06-20 | 椎弓根スクリューの固定プランニングシステム及び方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11666390B2 (ja) |
EP (1) | EP3939511A4 (ja) |
JP (2) | JP7355407B2 (ja) |
KR (1) | KR102166149B1 (ja) |
CN (1) | CN113543714A (ja) |
WO (1) | WO2020185049A2 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113781496B (zh) * | 2021-08-06 | 2024-02-27 | 北京天智航医疗科技股份有限公司 | 基于cbct脊椎图像的椎弓根螺钉通道自动规划系统和方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008537496A (ja) | 2005-03-07 | 2008-09-18 | パチェコ,ヘクター,オー. | 後湾形成、椎骨形成、椎体生検、またはスクリューの配置のための椎体に進入する改良されたシステムおよび方法 |
US20100241129A1 (en) | 2009-03-18 | 2010-09-23 | Integrated Spinal Concepts, Inc. | Image-Guided Minimal-Step Placement Of Screw Into Bone |
JP2018079304A (ja) | 2016-10-10 | 2018-05-24 | グローバス メディカル インコーポレイティッド | 2d−3d位置合わせの収束を改善するための方法及びシステム |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US659599A (en) * | 1900-07-07 | 1900-10-09 | Charles A Bailey | Machine for making paper tubes. |
US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US6285902B1 (en) | 1999-02-10 | 2001-09-04 | Surgical Insights, Inc. | Computer assisted targeting device for use in orthopaedic surgery |
DE10306793A1 (de) * | 2002-05-21 | 2003-12-04 | Plus Endoprothetik Ag Rotkreuz | Anordnung und Verfahren zur intraoperativen Festlegung der Lage eines Gelenkersatzimplantats |
WO2005081863A2 (en) * | 2004-02-20 | 2005-09-09 | Pacheco Hector O | Method for improving pedicle screw placement in spinal surgery |
KR100726022B1 (ko) | 2005-10-26 | 2007-06-12 | 한양대학교 산학협력단 | 복수의 2차원 영상을 이용한 3차원 수술공간 계측 시스템및 그 방법 |
KR101286362B1 (ko) * | 2006-01-24 | 2013-07-15 | 루카디아 6, 엘엘씨 | 척추 수술시 척추체의 요추체에서 최적의 나사못을 선정하거나 기구 배치를 위한 요추체 기저 둘레 및 요추체 협부의 결정 방법 |
US8114085B2 (en) | 2006-04-13 | 2012-02-14 | General Electric Company | Percutaneous registration-and-access tool for minimally invasive spinal surgery |
US8731643B2 (en) * | 2007-11-13 | 2014-05-20 | Siemens Aktiengesellschaft | Imaging system and methods for medical needle procedures |
CN105395253A (zh) * | 2008-12-01 | 2016-03-16 | 马佐尔机器人有限公司 | 机器人引导的倾斜脊柱稳定化 |
WO2010122145A1 (en) | 2009-04-25 | 2010-10-28 | Siemens Aktiengesellschaft | A method and a system for assessing the relative pose of an implant and a bone of a creature |
KR101264198B1 (ko) | 2012-01-31 | 2013-05-14 | 포항공과대학교 산학협력단 | 삼차원 모델을 이용한 자동 수술 계획 시스템 및 이를 이용한 수술 계획 방법 |
US11317971B2 (en) * | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US10643371B2 (en) * | 2014-08-11 | 2020-05-05 | Covidien Lp | Treatment procedure planning system and method |
KR102430277B1 (ko) * | 2015-11-27 | 2022-08-09 | 큐렉소 주식회사 | 정형외과 수술용 마커 위치 확인 시스템 및 그 확인 방법 |
EP3621545B1 (en) * | 2017-05-10 | 2024-02-21 | MAKO Surgical Corp. | Robotic spine surgery system |
US11406338B2 (en) * | 2017-07-08 | 2022-08-09 | Vuze Medical Ltd. | Apparatus and methods for use with image-guided skeletal procedures |
KR102367989B1 (ko) | 2017-09-08 | 2022-02-28 | 삼성디스플레이 주식회사 | 디스플레이 장치 |
KR102203544B1 (ko) | 2019-03-13 | 2021-01-18 | 큐렉소 주식회사 | C-arm 기반의 의료영상 시스템 및 2D 이미지와 3D 공간의 정합방법 |
-
2019
- 2019-03-13 KR KR1020190028981A patent/KR102166149B1/ko active
-
2020
- 2020-03-13 US US17/437,713 patent/US11666390B2/en active Active
- 2020-03-13 CN CN202080019837.4A patent/CN113543714A/zh active Pending
- 2020-03-13 WO PCT/KR2020/003565 patent/WO2020185049A2/ko unknown
- 2020-03-13 EP EP20769607.1A patent/EP3939511A4/en active Pending
- 2020-03-13 JP JP2021554669A patent/JP7355407B2/ja active Active
-
2023
- 2023-06-20 JP JP2023100449A patent/JP2023116743A/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008537496A (ja) | 2005-03-07 | 2008-09-18 | パチェコ,ヘクター,オー. | 後湾形成、椎骨形成、椎体生検、またはスクリューの配置のための椎体に進入する改良されたシステムおよび方法 |
US20100241129A1 (en) | 2009-03-18 | 2010-09-23 | Integrated Spinal Concepts, Inc. | Image-Guided Minimal-Step Placement Of Screw Into Bone |
JP2018079304A (ja) | 2016-10-10 | 2018-05-24 | グローバス メディカル インコーポレイティッド | 2d−3d位置合わせの収束を改善するための方法及びシステム |
Also Published As
Publication number | Publication date |
---|---|
US11666390B2 (en) | 2023-06-06 |
US20220039875A1 (en) | 2022-02-10 |
KR20200109641A (ko) | 2020-09-23 |
KR102166149B1 (ko) | 2020-10-15 |
WO2020185049A2 (ko) | 2020-09-17 |
JP2023116743A (ja) | 2023-08-22 |
WO2020185049A3 (ko) | 2020-11-05 |
EP3939511A2 (en) | 2022-01-19 |
CN113543714A (zh) | 2021-10-22 |
EP3939511A4 (en) | 2022-11-30 |
JP2022524607A (ja) | 2022-05-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20220354580A1 (en) | Surgical navigation system, computer for performing surgical navigation method, and storage medium | |
JP7213413B2 (ja) | C-armベースの医用画像システム及び2D画像と3D空間の整合方法 | |
JP7114573B2 (ja) | 整形外科の固定制御及び操作 | |
EP2967297B1 (en) | System for dynamic validation, correction of registration for surgical navigation | |
US6718194B2 (en) | Computer assisted intramedullary rod surgery system with enhanced features | |
US9265468B2 (en) | Fluoroscopy-based surgical device tracking method | |
US20140221819A1 (en) | Apparatus, system and method for surgical navigation | |
JP2020518315A (ja) | 慣性計測装置を使用して手術の正確度を向上させるためのシステム、装置、及び方法 | |
EP3494548B1 (en) | System and method of generating and updating a three dimensional model of a luminal network | |
JP2018183581A (ja) | 骨組織への近接に基づく解剖学的画像の位置追跡座標系との位置合わせ | |
KR20190078853A (ko) | 레이저 표적 투영장치 및 그 제어방법, 레이저 표적 투영장치를 포함하는 레이저 수술 유도 시스템 | |
JP2023116743A (ja) | 椎弓根スクリューの固定プランニングシステム及び方法 | |
KR20230027240A (ko) | 의료 기구를 위한 제어 스킴 교정 | |
US10413367B2 (en) | Method of performing intraoperative navigation | |
Majak et al. | Augmented reality visualization for aiding biopsy procedure according to computed tomography based virtual plan | |
TWM570117U (zh) | 用於椎弓根螺釘微創定位的擴增實境裝置 | |
JP2023504703A (ja) | 追跡システムとの画像の位置合わせ | |
JPH09173350A (ja) | アライメント装置における、または、アライメント装置に関する改良 | |
JP2022526540A (ja) | 整形外科的固定制御及び可視化 | |
US20140294160A1 (en) | Method and device for establishing object data | |
WO2023165158A1 (zh) | 医疗导航设备、导航处理设备及方法、以及医疗导航系统 | |
KR20000011134A (ko) | 정위 수술 방법 및 장치 | |
WO2012052929A2 (en) | System and method for facilitating navigation of a tool using a fluoroscope | |
US20230270507A1 (en) | Surgical Imaging And Display System, And Related Methods | |
JP2024518390A (ja) | 多分岐チャネル内で管状コンポーネントをナビゲートするための方法、機器及び記憶媒体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210910 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220804 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220816 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20221108 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20230221 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230620 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20230627 |
|
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: 20230822 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230913 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7355407 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |