JPWO2020221885A5 - - Google Patents
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- JPWO2020221885A5 JPWO2020221885A5 JP2021563074A JP2021563074A JPWO2020221885A5 JP WO2020221885 A5 JPWO2020221885 A5 JP WO2020221885A5 JP 2021563074 A JP2021563074 A JP 2021563074A JP 2021563074 A JP2021563074 A JP 2021563074A JP WO2020221885 A5 JPWO2020221885 A5 JP WO2020221885A5
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Description
以下において、本発明の実施形態が図を参照して説明される。
本発明は、例えば、以下を提供する。
（項目１）
血管内への挿入または小さい内径を有する管腔内への挿入のための補助器具であって、前記補助器具が、近位端および遠位端と、少なくとも１つの位置特定要素と、を有し、前記少なくとも１つの位置特定要素の位置および配向が、電磁位置検出システムを用いて判定され得、
－前記位置特定要素が、前記補助器具の前記遠位端に直接隣接して、または前記補助器具の前記遠位端に少なくとも近接して配置されており、前記位置特定要素が、交流電磁場を捕捉するように構成されており、
－前記補助器具の遠位端領域は、前記位置特定要素が前記遠位端領域内に配置されるように、前記補助器具の前記遠位端から前記位置特定要素の近位端まで延在し、
－前記位置特定要素が配置されている前記遠位端領域のその部分で、少なくとも断面において、前記補助器具が、１０Ｎｍｍ
２
未満の低い曲げ剛性を有し、
－少なくとも２つの線が、前記位置特定要素から前記補助器具の前記近位端に導かれ、かつ少なくとも前記位置特定要素に導電的に接続されており、
－前記位置特定要素の長さの量が、前記位置特定要素の外径の量よりも少なくとも１０倍大きい、補助器具。
（項目２）
前記位置特定要素が、２ｍＨ～４ｍＨである総インダクタンスを有するように構成されている、項目１に記載の補助器具。
（項目３）
前記位置特定要素が、７０オーム～１００オームである電気抵抗を有するように構成されている、項目１または２に記載の補助器具。
（項目４）
前記少なくとも１つの位置特定要素が、２つのコイル端および０．５ミリメートル以下の外径を有する、少なくとも１つのコイルから形成されている、項目１～３の少なくとも一項に記載の補助器具。
（項目５）
前記遠位端領域内に配置されており、かつコイルによって形成されている、少なくとも１つのさらなる位置特定要素を備え、前記少なくとも２つのコイルが、互いに電気的に接続されておらず、前記コイルの各々が、少なくとも２つの線に導電的に接続されており、前記線が、前記それぞれのコイルから前記補助器具の前記近位端に導かれている、項目４に記載の補助器具。
（項目６）
前記少なくとも１つのコイルが、少なくとも前記コイルの遠位端から前記コイルの近位端まで延在する単一片で形成されているコイルコアの周囲、または共に移動可能に列状に数片で形成されている前記コイルコアの周囲に巻かれており、前記コイルコアが、少なくとも前記コイルの遠位端から前記コイルの近位端まで延在している、項目４に記載の補助器具。
（項目７）
前記コイルの第１のコイル端が、前記少なくとも２つの線のうちの第１の線に導電的に接続されており、前記コイルの第２のコイル端が、前記コイルコアの遠位端に導電的に接続されており、前記コイルコアの近位端が、前記少なくとも２つの線のうちの第２の線に導電的に接続されており、それにより、前記コイルコアが、前記第２のコイル端と前記第２の線との間に導電性接続を確立する、項目６に記載の補助器具。
（項目８）
前記コイルの第１のコイル端が、前記少なくとも２つの線のうちの第１の線に導電的に接続されており、前記コイルの第２のコイル端が、前記コイルコアの遠位端に導電的に接続されており、前記コイルコアが、前記コイルの前記遠位端から前記補助器具の前記近位端まで延在しており、かつ前記補助器具の前記少なくとも２つの線のうちの１つである、項目６に記載の補助器具。
（項目９）
前記コイルは、前記コイルが、前記コイルの残部と比較して比較的低剛性である、少なくとも１つの曲げ区分を有し、前記曲げ区分は、この区分において、前記コイルの単位長さ当たりの巻線数が、前記コイルの前記残部よりも少ないように形成されている、項目４、６～８の少なくとも一項に記載の補助器具。
（項目１０）
前記少なくとも１つの位置特定要素が、直列に接続されたいくつかのコイルを含むコイル配置によって形成され、前記コイル配置が、前記コイル配置の前記コイルのうちの２つの間に位置し、かつ前記コイル配置の前記コイルと比較して比較的可撓性である、少なくとも１つの曲げ区分を有し、前記コイル配置の近位端に配置された第１のコイルが、その近位コイル端において前記少なくとも２つの線のうちの第１の線に導電的に接続されており、前記コイル配置の遠位端に配置されたさらなるコイルが、その遠位コイル端において前記少なくとも２つの線のうちの第２の線に導電的に接続されている、項目１～４の少なくとも一項に記載の補助器具。
（項目１１）
前記コイル配置の各コイルは、前記コイルのうちの２つの間の曲げ区分にコイルコアが配置されないように、それぞれのコイルの近位端からそのコイルの遠位端まで延在するそれぞれのコイルコアの周囲に巻かれている、項目１０に記載の補助器具。
（項目１２）
前記コイル配置が、少なくとも第３の線に導電的に接続されており、それにより、電圧が、少なくとも、前記第３の線と前記第１の線との間、および／または前記第３の線と前記第２の線との間でタップされ得る、項目１０または１１に記載の補助器具。
（項目１３）
前記位置特定要素および前記少なくとも２つの線が、管によって取り囲まれ、前記管が、０．６ミリメートル未満であるが、前記取り囲まれた位置特定要素の前記外径よりも大きい外径を有する、項目１～１２の少なくとも一項に記載の補助器具。
（項目１４）
前記管が、生体適合性材料で作製されている、および／または前記管の外面が、生体適合性材料で被覆されている、項目１３に記載の補助器具。
（項目１５）
電気接点の接続が、前記補助器具の前記近位端に配置されており、かつ前記少なくとも２つの線に導電的に接続されている、項目１～１４の少なくとも一項に記載の補助器具。
（項目１６）
前記補助器具の前記近位端と前記遠位端との間の距離が、１０ｃｍ～１５０ｃｍである、項目１～１５の少なくとも一項に記載の補助器具。
（項目１７）
前記補助器具の前記近位端の方向に前記遠位端領域から出発して、前記遠位端領域から、ある距離に配置されており、かつ交流電磁場を捕捉するように構成されている、近接位置特定要素を備える、項目１～１６の少なくとも一項に記載の補助器具。
（項目１８）
前記近接位置特定要素が配置される、その部分で、少なくとも断面において、１０Ｎｍｍ
２
未満の低い曲げ剛性を有する、項目１７に記載の補助器具。
（項目１９）
前記近接位置特定要素が、前記近接位置特定要素の外径の量よりも少なくとも１０倍の量を有する長さを有し、かつ２ｍＨ～４ｍＨである総インダクタンスを有するように構成されている、項目１７または１８に記載の補助器具。
（項目２０）
少なくとも１つの外部アクセス可能な管腔を備える外科用器具であって、項目１～１９のうちの少なくとも一項に従って構成されている補助器具が取り外し可能に配置されている、外科用器具。
（項目２１）
項目１７～１９のうちの少なくとも一項に従って構成されている補助器具の遠位端領域の曲げを再構成するための方法であって、前記方法は、
－交流電磁場を生成する工程と、
－遠位端領域に配置された位置特定要素を用いて電圧信号を出力する工程であって、前記電圧信号が、前記位置特定要素内において誘導された電圧を表す、出力する工程と、
－前記補助器具の前記近位端の方向に前記遠位端領域から出発して、前記遠位端領域から、ある距離に配置されている、近接位置特定要素を用いて、電圧信号を出力する工程であって、前記電圧信号が、前記近接位置特定要素内で誘導された電圧を表す、出力する工程と、
－前記位置特定要素から出力された前記電圧信号を評価することによって、前記遠位端領域内に配置された前記位置特定要素の位置および配向を判定する工程と、
－前記近接位置特定要素から出力された前記電圧信号を評価することによって、前記遠位端領域から、ある距離に配置されている、前記近接位置特定要素の位置および配向を判定する工程と、
－前記遠位端領域内に配置された前記位置特定要素の前記判定された位置および配向、ならびに前記遠位端領域から、ある距離に配置された前記近接位置特定要素の前記判定された位置および配向に基づいて、前記補助器具の前記遠位端領域の曲げを再構成する工程、
かつ／または
－前記補助器具が、前記遠位端領域内に配置された前記位置特定要素の前記判定された位置および配向、ならびに前記遠位端領域から、ある距離に配置された前記近接位置特定要素の前記判定された位置および配向に基づいて配置されている、管腔を有する外科用器具の外形を再構成する工程と、を含む、方法。
In the following, embodiments of the invention are described with reference to the figures.
The present invention provides, for example, the following.
(Item 1)
An auxiliary instrument for insertion into a blood vessel or into a lumen having a small inner diameter, said auxiliary instrument having a proximal end and a distal end and at least one locating element. , the position and orientation of the at least one localization element may be determined using an electromagnetic position detection system;
- said localization element is arranged directly adjacent to said distal end of said auxiliary instrument or at least close to said distal end of said auxiliary instrument, said localization element capturing an alternating electromagnetic field; is configured to
- the distal end region of the auxiliary instrument extends from the distal end of the auxiliary instrument to the proximal end of the localization element, such that the localization element is located within the distal end region; ,
- in that part of the distal end region where the localization element is arranged, the auxiliary instrument has a low bending stiffness of less than 10 Nmm2 , at least in cross-section,
- at least two wires are led from the localization element to the proximal end of the auxiliary instrument and are conductively connected to at least the localization element;
- Auxiliary instrument, wherein the amount of length of said locating element is at least 10 times greater than the amount of outer diameter of said locating element.
(Item 2)
Auxiliary instrument according to item 1, wherein the localization element is configured to have a total inductance between 2mH and 4mH.
(Item 3)
3. Auxiliary instrument according to item 1 or 2, wherein the localization element is configured to have an electrical resistance that is between 70 ohms and 100 ohms.
(Item 4)
4. Auxiliary instrument according to at least one of items 1-3, wherein said at least one locating element is formed from at least one coil having two coiled ends and an outer diameter of 0.5 millimeters or less.
(Item 5)
at least one further locating element arranged in said distal end region and formed by a coil, wherein said at least two coils are not electrically connected to each other and said coils are 5. Auxiliary device according to item 4, each conductively connected to at least two wires, said wires leading from said respective coils to said proximal end of said auxiliary device.
(Item 6)
The at least one coil is formed around a coil core formed in a single piece extending from at least the distal end of the coil to the proximal end of the coil, or formed in several pieces in rows movable together. 5. The auxiliary device of item 4, wherein the coil core is wrapped around the coil core in which the coil core extends from at least the distal end of the coil to the proximal end of the coil.
(Item 7)
A first coil end of the coil is conductively connected to a first of the at least two wires and a second coil end of the coil is conductively connected to a distal end of the coil core. and a proximal end of the coil core is conductively connected to a second of the at least two wires, whereby the coil core is connected to the second coil end and the Auxiliary device according to item 6, establishing an electrically conductive connection with the second wire.
(Item 8)
A first coil end of the coil is conductively connected to a first of the at least two wires and a second coil end of the coil is conductively connected to a distal end of the coil core. wherein the coil core extends from the distal end of the coil to the proximal end of the auxiliary device and is one of the at least two wires of the auxiliary device. , item 6.
(Item 9)
The coil has at least one bending section in which the coil has a relatively low stiffness compared to the rest of the coil, the bending section having a number of turns per unit length of the coil in this section. 9. Auxiliary device according to at least one of items 4, 6-8, wherein the number of wires is less than the rest of the coil.
(Item 10)
said at least one locating element is formed by a coil arrangement comprising several coils connected in series, said coil arrangement being located between two of said coils of said coil arrangement, and said coil A first coil disposed at a proximal end of the coil arrangement having at least one bending section that is relatively flexible compared to the coils of the arrangement, is positioned at the proximal end of the at least one coil. A further coil conductively connected to the first of the two wires and positioned at the distal end of the coil arrangement has a second of the at least two wires at its distal coil end. 5. Auxiliary device according to at least one of items 1 to 4, which is conductively connected to the line of
(Item 11)
Each coil of the coil arrangement has a circumference around a respective coil core extending from the proximal end of the respective coil to the distal end of the coil such that no coil core is positioned in the bend section between two of the coils. 11. Auxiliary device according to item 10, which is wrapped in a
(Item 12)
The coil arrangement is conductively connected to at least a third line such that a voltage is at least between the third line and the first line and/or across the third line. 12. Auxiliary instrument according to item 10 or 11, which can be tapped between the and said second line.
(Item 13)
An item wherein said locating element and said at least two lines are surrounded by a tube, said tube having an outer diameter less than 0.6 millimeters but greater than said outer diameter of said surrounded locating element. Auxiliary device according to at least one of items 1 to 12.
(Item 14)
14. Auxiliary device according to item 13, wherein said tube is made of a biocompatible material and/or the outer surface of said tube is coated with a biocompatible material.
(Item 15)
15. Auxiliary instrument according to at least one of the items 1 to 14, wherein a connection of electrical contacts is arranged at the proximal end of the auxiliary instrument and is conductively connected to the at least two wires.
(Item 16)
16. Auxiliary instrument according to at least one of the items 1-15, wherein the distance between the proximal end and the distal end of the auxiliary instrument is between 10 cm and 150 cm.
(Item 17)
starting from the distal end region in the direction of the proximal end of the auxiliary instrument, the proximity is arranged at a distance from the distal end region and is configured to pick up an alternating electromagnetic field; Auxiliary device according to at least one of items 1 to 16, comprising a locating element.
(Item 18)
18. Auxiliary instrument according to item 17, having a low bending stiffness of less than 10 Nmm 2 , at least in cross-section, in the part where the proximal locating element is arranged .
(Item 19)
wherein said proximal locating element has a length having an amount at least ten times greater than the amount of the outer diameter of said proximal locating element and is configured to have a total inductance between 2 mH and 4 mH. Auxiliary device according to 17 or 18.
(Item 20)
A surgical instrument comprising at least one externally accessible lumen, wherein an auxiliary instrument constructed according to at least one of items 1-19 is removably arranged.
(Item 21)
20. A method for reconfiguring the bending of a distal end region of an auxiliary instrument constructed according to at least one of items 17-19, said method comprising:
- generating an alternating electromagnetic field;
- outputting a voltage signal with a localization element located in the distal end region, said voltage signal representing the voltage induced in said localization element;
- outputting a voltage signal starting from the distal end region in the direction of the proximal end of the auxiliary instrument and using a proximity locating element arranged at a distance from the distal end region; outputting the voltage signal representative of the voltage induced in the proximal locating element;
- determining the position and orientation of the locating element located in the distal end region by evaluating the voltage signal output from the locating element;
- determining the position and orientation of the proximal locating element, located at a distance from the distal end region, by evaluating the voltage signal output from the proximal locating element;
- said determined position and orientation of said locating element located within said distal end region and said determined position and orientation of said proximal locating element located at a distance from said distal end region; reconfiguring the bending of the distal end region of the auxiliary device based on the orientation;
and/or
- said auxiliary instrument determines said determined position and orientation of said locating element located within said distal end region and said proximate locating element located at a distance from said distal end region; and reconfiguring the contour of the lumened surgical instrument positioned based on the determined position and orientation.
Claims (21)
－前記位置特定要素が、前記補助器具の前記遠位端に直接隣接して、または前記補助器具の前記遠位端に少なくとも近接して配置されており、前記位置特定要素が、交流電磁場を捕捉するように構成されており、
－前記補助器具の遠位端領域は、前記位置特定要素が前記遠位端領域内に配置されるように、前記補助器具の前記遠位端から前記位置特定要素の近位端まで延在し、
－前記位置特定要素が配置されている前記遠位端領域のその部分で、少なくとも断面において、前記補助器具が、１０Ｎｍｍ２未満の低い曲げ剛性を有し、
－少なくとも２つの線が、前記位置特定要素から前記補助器具の前記近位端に導かれ、かつ少なくとも前記位置特定要素に導電的に接続されており、
－前記位置特定要素の長さの量が、前記位置特定要素の外径の量よりも少なくとも１０倍大きい、補助器具。 An auxiliary instrument for insertion into a blood vessel or into a lumen having a small inner diameter, said auxiliary instrument having a proximal end and a distal end and at least one locating element. , the position and orientation of the at least one localization element may be determined using an electromagnetic position detection system;
- said localization element is arranged directly adjacent to said distal end of said auxiliary instrument or at least close to said distal end of said auxiliary instrument, said localization element capturing an alternating electromagnetic field; is configured to
- the distal end region of the auxiliary instrument extends from the distal end of the auxiliary instrument to the proximal end of the localization element, such that the localization element is located within the distal end region; ,
- in that part of the distal end region where the localization element is arranged, the auxiliary instrument has a low bending stiffness of less than 10 Nmm2 , at least in cross-section,
- at least two wires are led from the localization element to the proximal end of the auxiliary instrument and are conductively connected to at least the localization element;
- Auxiliary instrument, wherein the amount of length of said locating element is at least 10 times greater than the amount of outer diameter of said locating element.
－交流電磁場を生成するように構成されている磁場発生器と、
－電磁位置検出システムと
を備え、
－遠位端領域に配置された位置特定要素が、電圧信号を出力するように構成されており、前記電圧信号が、前記位置特定要素内において誘導された電圧を表し、
－前記補助器具の近位端の方向に前記遠位端領域から出発して、前記遠位端領域から、ある距離に配置されている、近接位置特定要素が、電圧信号を出力するように構成されており、前記電圧信号が、前記近接位置特定要素内で誘導された電圧を表し、
－前記電磁位置検出システムが、前記位置特定要素から出力された前記電圧信号を評価することによって、前記遠位端領域内に配置された前記位置特定要素の位置および配向を判定することと、前記近接位置特定要素から出力された前記電圧信号を評価することによって、前記遠位端領域からある距離に配置されている前記近接位置特定要素の位置および配向を判定することとを行うように構成されており、
－前記遠位端領域内に配置された前記位置特定要素の前記判定された位置および配向、ならびに前記遠位端領域からある距離に配置された前記近接位置特定要素の前記判定された位置および配向に基づいて、前記補助器具の前記遠位端領域の曲げが、再構成され、
かつ／または
－前記遠位端領域内に配置された前記位置特定要素の前記判定された位置および配向、ならびに前記遠位端領域からある距離に配置された前記近接位置特定要素の前記判定された位置および配向に基づいて、前記補助器具が配置されている管腔を有する外科用器具の外形が、再構成される、システム。
A system for reconfiguring the bending of the distal end region of an auxiliary instrument constructed according to any one of claims 17-19, said system comprising:
- a magnetic field generator configured to generate an alternating electromagnetic field;
- an electromagnetic position detection system and
with
- the locating element arranged in the distal end region is configured to output a voltage signal , said voltage signal being representative of the voltage induced in said locating element;
- a proximity locating element arranged at a distance from said distal end region, starting from said distal end region in the direction of the proximal end of said auxiliary instrument , arranged to output a voltage signal; wherein the voltage signal represents a voltage induced in the proximity locating element;
- said electromagnetic position detection system determines the position and orientation of said locating element located in said distal end region by evaluating said voltage signal output from said locating element ; and determining the position and orientation of the proximal locating element located at a distance from the distal end region by evaluating the voltage signal output from the proximal locating element. has been
- said determined position and orientation of said locating element located within said distal end region and said determined position and orientation of said proximal locating element located at a distance from said distal end region; Based on the orientation, the bending of the distal end region of the auxiliary instrument is reconfigured ;
and/or
- said determined position and orientation of said locating element located within said distal end region and said determined position and orientation of said proximal locating element located at a distance from said distal end region; A system wherein, based on orientation, a contour of a surgical instrument having a lumen in which said ancillary instrument is located is reconfigured .
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201962842025P | 2019-05-02 | 2019-05-02 | |
| US62/842,025 | 2019-05-02 | ||
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| US10322269B1 (en) | 2015-01-19 | 2019-06-18 | Dalent, LLC | Dilator device |
| EP4233694A3 (en) | 2019-05-02 | 2023-09-06 | Intersect ENT International GmbH | Sensor carrier |
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| DE4423876C1 (en) | 1994-07-07 | 1995-07-06 | Kernforschungsz Karlsruhe | Micro-coil prodn. by electroforming |
| EP1088568B1 (en) * | 1999-09-09 | 2005-08-24 | Schneider (Europe) GmbH | Guiding aid for a medical instrument |
| US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
| US6785571B2 (en) * | 2001-03-30 | 2004-08-31 | Neil David Glossop | Device and method for registering a position sensor in an anatomical body |
| US20090234329A1 (en) * | 2005-10-17 | 2009-09-17 | Kaneka Corporation | Medical Catheter Tubes and Process for Production Thereof |
| US20090216113A1 (en) * | 2005-11-17 | 2009-08-27 | Eric Meier | Apparatus and Methods for Using an Electromagnetic Transponder in Orthopedic Procedures |
| US20070299443A1 (en) * | 2006-06-09 | 2007-12-27 | Endius, Inc. | Methods and apparatus for access to and/or treatment of the spine |
| US20100274188A1 (en) | 2007-12-20 | 2010-10-28 | Acclarent, Inc. | Method and System for Treating Target Tissue Within the Eustachian Tube |
| US8926528B2 (en) * | 2008-08-06 | 2015-01-06 | Biosense Webster, Inc. | Single-axis sensors on flexible backbone |
| DE102009042150A1 (en) * | 2009-05-29 | 2010-12-02 | Aesculap Ag | Surgical instrument to be used in combination with a trocar or something similar has proximal and distal ends as well as an end section with an articulated zone |
| US8834513B2 (en) | 2009-06-05 | 2014-09-16 | Entellus Medical, Inc. | Method and articles for treating the sinus system |
| US20110066029A1 (en) * | 2009-09-11 | 2011-03-17 | Medtronic, Inc. | Electromagnetic Medical Device |
| WO2011140535A1 (en) | 2010-05-07 | 2011-11-10 | Entellus Medical, Inc. | Sinus balloon dilation catheters and sinus surgury tools |
| ITTO20110394A1 (en) * | 2011-05-05 | 2012-11-06 | Univ Pisa | CATHETER EQUIPPED WITH ELECTROMAGNETIC POSITION SENSORS, AND LOCALIZATION SYSTEM FOR CATHETER AND WIRE GUIDES |
| US9486614B2 (en) | 2011-06-29 | 2016-11-08 | Entellus Medical, Inc. | Sinus dilation catheter |
| DE102011119073A1 (en) | 2011-11-15 | 2013-05-16 | Fiagon Gmbh | Registration method, position detection system and scanning instrument |
| US20130274715A1 (en) | 2012-04-13 | 2013-10-17 | Acclarent, Inc. | Method and System for Eustachian Tube Dilation |
| US20190038366A1 (en) | 2012-06-21 | 2019-02-07 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
| US9023036B2 (en) * | 2012-12-07 | 2015-05-05 | Biosense Webster (Israel) Ltd. | Lasso catheter with tip electrode |
| JP6629230B2 (en) * | 2014-04-02 | 2020-01-15 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Minimal invasive system |
| EP3160369A4 (en) | 2014-06-25 | 2018-04-18 | Canary Medical Inc. | Devices, systems and methods for using and monitoring spinal implants |
| US20160310041A1 (en) * | 2015-04-22 | 2016-10-27 | Acclarent, Inc. | Guidewire with navigation sensor |
| US10814120B2 (en) * | 2015-07-02 | 2020-10-27 | Covellus Llc | Modular medical device catheter system |
| EP3399900A4 (en) * | 2016-01-07 | 2019-10-16 | Baylis Medical Company Inc. | Hybrid transseptal dilator and methods of using the same |
| DE102017008148A1 (en) * | 2017-08-29 | 2019-02-28 | Joimax Gmbh | Sensor unit, intraoperative navigation system and method for detecting a surgical instrument |
| EP3737323A1 (en) * | 2018-01-12 | 2020-11-18 | Bono, Peter L. | Surgical sensor anchor system |
| KR20220026530A (en) | 2019-05-02 | 2022-03-04 | 인터섹트 엔트 인터내셔널 게엠베하 | Surgical kit for minimally invasive spine surgery |
| EP4233694A3 (en) | 2019-05-02 | 2023-09-06 | Intersect ENT International GmbH | Sensor carrier |
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